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: |
|---|
| |
- Description
Tolerance to meet goal completion criteria (m).
|
<dwb plugin>.trans_stopped_velocity: |
|---|
| |
- Description
Velocity below is considered to be stopped at tolerance met (rad/s).
|
<dwb plugin>.<name>.slowing_factor: |
|---|
| |
- Description
Factor to slow robot motion by while rotating to goal.
|
<dwb plugin>.<name>.lookahead_time: |
|---|
| |
- Description
If > 0, amount of time to look forward for a collision for..
|
<dwb plugin>.<name>.scale: |
|---|
| |
- Description
Weighed scale for critic.
|