RotateToGoalCritic

Only allows the robot to rotate to the goal orientation when it is sufficiently close to the goal location.

Parameters

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

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

<dwb plugin>.xy_goal_tolerance

Type: double Default: 0.25

Tolerance to meet goal completion criteria (m).

<dwb plugin>.path_length_tolerance

Type: double Default: 1.0

Tolerance to meet goal completion criteria (m).

<dwb plugin>.trans_stopped_velocity

Type: double Default: 0.25

Velocity below is considered to be stopped at tolerance met (rad/s).

<dwb plugin>.<name>.slowing_factor

Type: double Default: 5.0

Factor to slow robot motion by while rotating to goal.

<dwb plugin>.<name>.lookahead_time

Type: double Default: -1.0

If > 0, amount of time to look forward for a collision for.

<dwb plugin>.<name>.scale

Type: double Default: 1.0

Weighed scale for critic.