OscillationCritic

Prevents the robot from just moving backwards and forwards.

Parameters

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

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

<dwb plugin>.<name>.oscillation_reset_dist

Type: double Default: 0.05

Minimum distance to move to reset oscillation watchdog (m).

<dwb plugin>.<name>.oscillation_reset_angle

Type: double Default: 0.2

Minimum angular distance to move to reset watchdog (rad).

<dwb plugin>.<name>.oscillation_reset_time

Type: double Default: -1.0

Duration when a reset may be called. If -1, cannot be reset.

<dwb plugin>.<name>.x_only_threshold

Type: double Default: 0.05

Threshold to check in the X velocity direction.

<dwb plugin>.<name>.scale

Type: double Default: 1.0

Weighed scale for critic.