Re: [ros-users] Base Local Planner Trajectory Scoring Parame…

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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