Publisher
Parameters
<dwb plugin>: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.
<dwb plugin>.publish_evaluation:Type
Default
bool
true
- Description
Whether to publish the local plan evaluation.
<dwb plugin>.publish_global_plan:Type
Default
bool
true
- Description
Whether to publish the global plan.
<dwb plugin>.publish_transformed_plan:Type
Default
bool
true
- Description
Whether to publish the global plan in the odometry frame.
<dwb plugin>.publish_local_plan:Type
Default
bool
true
- Description
Whether to publish the local planner’s plan.
<dwb plugin>.publish_trajectories:Type
Default
bool
true
- Description
Whether to publish debug trajectories.
<dwb plugin>.publish_cost_grid_pc:Type
Default
bool
false
- Description
Whether to publish the cost grid.
<dwb plugin>.marker_lifetime:Type
Default
double
0.1
- Description
How long for the marker to remain.