GoalDistCritic

Scores a trajectory based on how close the trajectory gets the robot to the goal pose.

Parameters

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

<name>: GoalDistCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.

<dwb plugin>.<name>.aggregation_type

Type	Default
string	“last”

Description

last, sum, or product combination methods.

<dwb plugin>.<name>.scale

Type	Default
double	1.0

Description

Weighed scale for critic.