StandardTrajectoryGenerator

Parameters

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

<dwb plugin>.sim_time

Type: double Default: 1.7

Time to simulate ahead by (s).

<dwb plugin>.discretize_by_time

Type: bool Default: false

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

<dwb plugin>.time_granularity

Type: double Default: 0.5

Time ahead to project.

<dwb plugin>.linear_granularity

Type: double Default: 0.5

Linear distance forward to project.

<dwb plugin>.angular_granularity

Type: double Default: 0.025

Angular distance to project.

<dwb plugin>.include_last_point

Type: bool Default: true

Whether to include the last pose in the trajectory.

<dwb plugin>.limit_vel_cmd_in_traj

Type: bool Default: false

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