Kinematic Parameters

Parameters

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

<dwb plugin>.max_vel_theta

Type: double Default: 0.0

Maximum angular velocity (rad/s).

<dwb plugin>.min_speed_xy

Type: double Default: 0.0

Minimum translational speed (m/s).

<dwb plugin>.max_speed_xy

Type: double Default: 0.0

Maximum translational speed (m/s).

<dwb plugin>.min_speed_theta

Type: double Default: 0.0

Minimum angular speed (rad/s).

<dwb plugin>.min_vel_x

Type: double Default: 0.0

Minimum velocity X (m/s).

<dwb plugin>.min_vel_y

Type: double Default: 0.0

Minimum velocity Y (m/s).

<dwb plugin>.max_vel_x

Type: double Default: 0.0

Maximum velocity X (m/s).

<dwb plugin>.max_vel_y

Type: double Default: 0.0

Maximum velocity Y (m/s).

<dwb plugin>.acc_lim_x

Type: double Default: 0.0

Maximum acceleration X (m/s^2).

<dwb plugin>.acc_lim_y

Type: double Default: 0.0

Maximum acceleration Y (m/s^2).

<dwb plugin>.acc_lim_theta

Type: double Default: 0.0

Maximum acceleration rotation (rad/s^2).

<dwb plugin>.decel_lim_x

Type: double Default: 0.0

Maximum deceleration X (m/s^2).

<dwb plugin>.decel_lim_y

Type: double Default: 0.0

Maximum deceleration Y (m/s^2).

<dwb plugin>.decel_lim_theta

Type: double Default: 0.0

Maximum deceleration rotation (rad/s^2).