[ros-users] Base Local Planner Trajectory Scoring Parameters Units

Eitan Marder-Eppstein eitan at willowgarage.com
Wed Jun 9 17:33:29 UTC 2010


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 at 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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