PreferForwardCritic

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:
 
Type Default
double 1.0
Description

Penalty to apply to backward motion.

<dwb plugin>.<name>.strafe_x:
 
Type Default
double 0.1
Description

Minimum X velocity before penalty.

<dwb plugin>.<name>.strafe_theta:
 
Type Default
double 0.2
Description

Minimum angular velocity before applying penalty.

<dwb plugin>.<name>.theta_scale:
 
Type Default
double 10.0
Description

Weight for angular velocity component.

<dwb plugin>.<name>.scale:
 
Type Default
double 1.0
Description

Weighed scale for critic.

<dwb plugin>.<name>.scale:
 
Type Default
double 1.0
Description

Weighed scale for critic.