DWA local planner parameters are never used

asked 2019-02-13 01:53:09 -0600

Dakow gravatar image

updated 2019-02-13 01:55:37 -0600


When trying to configure DWA local planner parameters, i've found that parameters scaling_speed and max_scaling_factor are never really used.

Both of these parameters are only(?) called in ObstacleCostFunction::getScalingFactor, but the return value (scale) who is called in ObstacleCostFunction::footprintCost is never used in the footprintCost method.

Is that normal?


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Well, normal is relative :-) It seems, your analysis so far is correct. There actually is already a ticket at the issue tracker about this.

mgruhler gravatar image mgruhler  ( 2019-02-13 06:21:46 -0600 )edit