Ask Your Question

Revision history [back]

So if you want the robot to NEVER go within X meters of an obstacle, I would change the robot's footprint to have an inscribed radius equal to X. This will make some feasible plans not feasible anymore.

If you want the robot to strongly prefer not going within X meters, you can increase the scale parameter on the obstacle critic in DWB.

If you want to control the logic even further, I would create a custom DWB critic that extends the MapGridCritic and use it to calculate the distance to the obstacles, and evaluate trajectories based on their distance to the obstacle.