RotateToGoalCritic
Only allows the robot to rotate to the goal orientation when it is sufficiently close to the goal location.
Parameters
<dwb plugin>
: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.
<name>
: RotateToGoalCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.
<dwb plugin> .xy_goal_tolerance: |
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- Description
Tolerance to meet goal completion criteria (m).
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<dwb plugin> .trans_stopped_velocity: |
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- Description
Velocity below is considered to be stopped at tolerance met (rad/s).
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<dwb plugin> .<name> .slowing_factor: |
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- Description
Factor to slow robot motion by while rotating to goal.
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<dwb plugin> .<name> .lookahead_time: |
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- Description
If > 0, amount of time to look forward for a collision for..
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<dwb plugin> .<name> .scale: |
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- Description
Weighed scale for critic.
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