StandardTrajectoryGenerator

Parameters

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

<dwb plugin>.sim_time

Type	Default
double	1.7

Description

Time to simulate ahead by (s).

<dwb plugin>.discretize_by_time

Type	Default
bool	false

Description

If true, forward simulate by time. If False, forward simulate by linear and angular granularity.

<dwb plugin>.time_granularity

Type	Default
double	0.5

Description

Time ahead to project.

<dwb plugin>.linear_granularity

Type	Default
double	0.5

Description

Linear distance forward to project.

<dwb plugin>.angular_granularity

Type	Default
double	0.025

Description

Angular distance to project.

<dwb plugin>.include_last_point

Type	Default
bool	true

Description

Whether to include the last pose in the trajectory.

<dwb plugin>.limit_vel_cmd_in_traj

Type	Default
bool	false

Description

Whether to limit velocity command in trajectory using sampled velocity instead of the commanded velocity.