# I would like to ask Trajectory Scoring Parameters of DWA.

Hello. I am a ROS beginner. I am doing SLAM of turtlebot 2 in the ubuntu 14.04, ros (indigo) personal computer environment.

I am asking questions by looking at the DWA page of ros.wiki.

cost = path_distance_bias * (distance to path from the endpoint of the trajectory in meters) + goal_distance_bias * (distance to local goal from the endpoint of the trajectory in meters) + occdist_scale * (maximum obstacle cost along the trajectory in obstacle cost (0-254))

Will the larger value of cost be adopted as the trajectory evaluated by this function? Will the smaller one be adopted?

and,distance to path from the endpoint of the trajectory in meters is the closest distance to the global trajectory plan? distance to local goal from the endpoint of the trajectory in meters Where is the local goal? Where is this figure?

Thank you,my friend.yea

Have you had a look at ROS Navigation Tuning Guide

yes.However,I cant understand where to be rocal goal.