Publisher

Parameters

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

<dwb plugin>.publish_evaluation

Type: bool Default: true

Whether to publish the local plan evaluation.

<dwb plugin>.publish_local_plan

Type: bool Default: true

Whether to publish the local planner's plan.

<dwb plugin>.publish_trajectories

Type: bool Default: true

Whether to publish debug trajectories.

<dwb plugin>.publish_cost_grid_pc

Type: bool Default: false

Whether to publish the cost grid.

<dwb plugin>.marker_lifetime

Type: double Default: 0.1

How long for the marker to remain.