git commit -m "first commit"

navigations/dwb_msgs/msg/CriticScore.msg

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+# The result from one critic scoring a Twist.
+# Name of the critic
+string name
+# Score for the critic, not multiplied by the scale
+float32 raw_score
+# Scale for the critic, multiplied by the raw_score and added to the total score
+float32 scale

navigations/dwb_msgs/msg/LocalPlanEvaluation.msg

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+# Full Scoring for running the local planner
+
+# Header, used for timestamp
+Header header
+# All the trajectories evaluated and their scores
+TrajectoryScore[] twists
+# Convenience index of the best (lowest) score in the twists array
+uint16 best_index
+# Convenience index of the worst (highest) score in the twists array. Useful for scaling.
+uint16 worst_index

navigations/dwb_msgs/msg/Trajectory2D.msg

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+# For a given velocity command, the poses that the robot will go to in the allotted time.
+
+# Input Velocity
+nav_2d_msgs/Twist2D velocity
+
+# Poses the robot will go to, given our kinematic model
+geometry_msgs/Pose2D[] poses
+
+# Time difference between the current pose and the poses in the trajectory.
+# Parallel array to poses. Length should be the same.
+duration[] time_offsets

navigations/dwb_msgs/msg/TrajectoryScore.msg

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+# Complete scoring for a given twist.
+
+# The trajectory being scored
+Trajectory2D traj
+# The Scores for each of the critics employed
+CriticScore[] scores
+# Convenience member that totals the critic scores
+float32 total