DWA local planner parameters are never used
Hi,
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?
Thanks,
Well, normal is relative :-) It seems, your analysis so far is correct. There actually is already a ticket at the issue tracker about this.