Scores trajectories that move the robot forwards more highly.
Parameters
<dwb plugin>: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.
<name>: PreferForwardCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.
<dwb plugin>.<name>.penalty: |
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- Description
Penalty to apply to backward motion.
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<dwb plugin>.<name>.strafe_x: |
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- Description
Minimum X velocity before penalty.
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<dwb plugin>.<name>.strafe_theta: |
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- Description
Minimum angular velocity before applying penalty.
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<dwb plugin>.<name>.theta_scale: |
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- Description
Weight for angular velocity component.
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<dwb plugin>.<name>.scale: |
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- Description
Weighed scale for critic.
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