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No, At least I found the correct parameter:

occdist_scale

This parameter causes the robot goes little far from walls.

Trajectory Scoring Parameters

goal_distance_bias: 0.8
path_distance_bias: 0.6
occdist_scale: 0.2 #0.01
heading_lookahead: 0.325
dwa: true

Thanks for the info, you help me very much

No, At least I found the correct parameter:

occdist_scale

This parameter causes the robot goes little far from walls.

# Trajectory Scoring Parameters
Parameters goal_distance_bias: 0.8 path_distance_bias: 0.6 occdist_scale: 0.2 #0.01 heading_lookahead: 0.325 dwa: true Thanks for the info, you help me very much

       
                
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