Chad,

You're correct. I've added units to the wiki page to clear this up in the
future. Thanks for pointing it out.

Hope all is well,

Eitan

On Tue, Jun 8, 2010 at 5:16 PM, Chad Rockey <chadrockey@gmail.com> wrote:

> The wiki page: http://www.ros.org/wiki/base_local_planner does not list
> the units for the scoring parameters.
>
> I'm assuming:
> ~<name>/path_distance_bias (double, default: 0.6) - meters
> ~<name>/goal_distance_bias (double, default: 0.8) - meters
> ~<name>/occdist_scale (double, default: 0.01) - Map obstacle cost (0-254?)
>
> If this is the case, the default gains would yield roughly values all
> around 2 or 3, which would explain the very small value on obstacle cost.
>
>
>
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