Chad,<br> <br>You&#39;re correct. I&#39;ve added units to the wiki page to clear this up in the future. Thanks for pointing it out.<br><br>Hope all is well,<br><br>Eitan<br><br><div class="gmail_quote">On Tue, Jun 8, 2010 at 5:16 PM, Chad Rockey <span dir="ltr">&lt;<a href="mailto:chadrockey@gmail.com">chadrockey@gmail.com</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">The wiki page: <a href="http://www.ros.org/wiki/base_local_planner" target="_blank">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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