PathAlignCritic

Scores a trajectory based on how well it is aligned to the path provided by the global planner.

Parameters

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

<dwb plugin>.<name>.forward_point_distance:

Type	Default
double	0.325

Description

Point in front of robot to look ahead to compute angular change from.

<dwb plugin>.<name>.aggregation_type:

Type	Default
string	“last”

Description

last, sum, or product combination methods.

<dwb plugin>.<name>.scale:

Type	Default
double	1.0

Description

Weighed scale for critic.