BaseObstacleCritic
Scores a trajectory based on where the path passes over the costmap. To use this properly, you must use the inflation layer in costmap to expand obstacles by the robot’s radius.
Parameters
<dwb plugin>
: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.
<name>
: BaseObstacleCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.
<dwb plugin>
.<name>
.sum_scoresType
Default
bool
false
- Description
Whether to allow for scores to be summed up.
<dwb plugin>
.<name>
.scaleType
Default
double
1.0
- Description
Weighed scale for critic.