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You are right, occdist_scale is not set for Turtlebot navigation, so it takes the default value (0.01). But you can set it, of course.

The two other weights for the cost function are set as

  • goal_distance_bias: 0.8
  • path_distance_bias: 0.6

but I think they are actually ignored. I have checked the code (hydro) and they are used by DWA planner, but no by the generic base_local_planner. So they are never used with turtlebot, to my understanding, regardless the local planner you use (dwa boolean parameter). A confirmation will be very appreciated!

I have changed the base_local_planner wiki accordingly. I hope I'm right...