dwa_local_planner penalize POSITIVE x
Hello everyone,
I am currently working in a student project and want to be able to navigate with the youbot from KUKA.
Everything works fine with the dwa_local_planner but in my specific case, I need the robot to drive backwards since the laserscanner is mounted at the back.
I wanted to adapt the source code of the dwa_local_planner to my needs, but I could not find out where the variable 'penalize_negative_x' is used. My plan was to start from there on to penalize POSITIVE x.
I am also quite new to ROS and seem to be a bit helpless. Maybe you can give me some advice, how I can force the dwa_local_planner to drive backwards.
Thanks for your reply and kind regards,
Raphael