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When optimizing the DWA local planner, is there a way to get the the total cost assocaited from APIs or from the parameter server?

asked 2018-07-26 18:03:42 -0500

unrahul gravatar image

I am trying to automate the parameter selection for DWA, for this I need to have the cost function value, is there a way to obtain this?

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answered 2018-07-30 11:00:34 -0500

David Lu gravatar image

DWA does not publish the costs associated with the trajectories it selects explicitly. (You can get some of it from the cost_cloud topic but its indirect)

One of the motivating factors behind the way I designed dwb_local_planner was the desire to get that information explicitly. (slides and video here)

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Asked: 2018-07-26 18:03:42 -0500

Seen: 45 times

Last updated: Jul 30 '18