StandardTrajectoryGenerator
Parameters
<dwb plugin>: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.
<dwb plugin>.sim_time:Type
Default
double
1.7
- Description
Time to simulate ahead by (s).
<dwb plugin>.discretize_by_time:Type
Default
bool
false
- Description
If true, forward simulate by time. If False, forward simulate by linear and angular granularity.
<dwb plugin>.time_granularity:Type
Default
double
0.5
- Description
Time ahead to project.
<dwb plugin>.linear_granularity:Type
Default
double
0.5
- Description
Linear distance forward to project.
<dwb plugin>.angular_granularity:Type
Default
double
0.025
- Description
Angular distance to project.
<dwb plugin>.include_last_point:Type
Default
bool
true
- Description
Whether to include the last pose in the trajectory.
<dwb plugin>.limit_vel_cmd_in_traj:Type
Default
bool
false
- Description
Whether to limit velocity command in trajectory using sampled velocity instead of the commanded velocity.