PreferForwardCritic

Scores trajectories that move the robot forwards more highly.

Parameters

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

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

<dwb plugin>.<name>.penalty:

Type	Default
double	1.0

Description

Penalty to apply to backward motion.

<dwb plugin>.<name>.strafe_x:

Type	Default
double	0.1

Description

Minimum X velocity before penalty.

<dwb plugin>.<name>.strafe_theta:

Type	Default
double	0.2

Description

Minimum angular velocity before applying penalty.

<dwb plugin>.<name>.theta_scale:

Type	Default
double	10.0

Description

Weight for angular velocity component.

<dwb plugin>.<name>.scale:

Type	Default
double	1.0

Description

Weighed scale for critic.