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HiepLM
2026-05-28 10:29:58 +07:00
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navigations/dwb_critics/default_critics.xml Executable file
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<class_libraries>
<library path="lib/libdwb_critics">
<class type="dwb_critics::PreferForwardCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Penalize trajectories with move backwards and/or turn too much</description>
</class>
<class type="dwb_critics::GoalDistCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Scores trajectories based on how far along the global path they end up.</description>
</class>
<class type="dwb_critics::PathAlignCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Scores trajectories based on how far from the global path the front of the robot ends up.
</description>
</class>
<class type="dwb_critics::GoalAlignCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Scores trajectories based on whether the robot ends up pointing toward the eventual goal
</description>
</class>
<class type="dwb_critics::PathDistCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Scores trajectories based on how far from the global path they end up.</description>
</class>
<class type="dwb_critics::OscillationCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Checks to see whether the sign of the commanded velocity flips frequently</description>
</class>
<class type="dwb_critics::RotateToGoalCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Forces the commanded trajectories to only be rotations if within a certain distance window
</description>
</class>
<class type="dwb_critics::BaseObstacleCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Uses costmap 2d to assign negative costs if a circular robot
would collide at any point of the trajectory.
</description>
</class>
<class type="dwb_critics::ObstacleFootprintCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Uses costmap 2d to assign negative costs if robot footprint is in obstacle
on any point of the trajectory.
</description>
</class>
<class type="dwb_critics::TwirlingCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
<description>Penalize trajectories with rotational velocities
</description>
</class>
</library>
</class_libraries>