Publisher

Parameters

<dwb plugin>: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.

<dwb plugin>.publish_evaluation

Type	Default
bool	true

Description

Whether to publish the local plan evaluation.

<dwb plugin>.publish_global_plan

Type	Default
bool	true

Description

Whether to publish the global plan.

<dwb plugin>.publish_transformed_plan

Type	Default
bool	true

Description

Whether to publish the global plan in the odometry frame.

<dwb plugin>.publish_local_plan

Type	Default
bool	true

Description

Whether to publish the local planner’s plan.

<dwb plugin>.publish_trajectories

Type	Default
bool	true

Description

Whether to publish debug trajectories.

<dwb plugin>.publish_cost_grid_pc

Type	Default
bool	false

Description

Whether to publish the cost grid.

<dwb plugin>.marker_lifetime

Type	Default
double	0.1

Description

How long for the marker to remain.