The wiki page: <a href="http://www.ros.org/wiki/base_local_planner">http://www.ros.org/wiki/base_local_planner</a> does not list the units for the scoring parameters.<div><br>I&#39;m assuming:<br>~&lt;name&gt;/path_distance_bias (double, default: 0.6) - meters<br>

~&lt;name&gt;/goal_distance_bias (double, default: 0.8) - meters<br>~&lt;name&gt;/occdist_scale (double, default: 0.01) - Map obstacle cost (0-254?)</div><div><br>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.<br>

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