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Nav2 DWB Controller Trajectory Critics explanation

asked 2022-08-30 04:28:39 -0500

marpeja gravatar image

updated 2022-08-30 05:08:04 -0500

Hi!

I don't really understand how the DWB Controller Trajectory Critics work. I understand that they are like settings that define how the robot should follow the path created by the Planner server right?

I see that all of them have a parameter named "scale" which is the weighed scale for that critic plugin. How does this work? I mean, the higher this value is, the more important the critic is for the controller? If so, which is the range of this scale parameter?

Thank you in advance for all your help!

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answered 2022-08-30 05:25:35 -0500

ljaniec gravatar image

I think this description here has the explanation you are looking for.

Trajectory Generator Plugins

These plugins generate the set of possible trajectories that should be evaluated by the critics. The trajectory with the best score determines the output command velocity. (...)

Critic Plugins

These plugins score the trajectories generated by the trajectory generator. Multiple plugins can be loaded and the sum of their scores determines the chosen command velocity.

Your initial thought seems to be correct - it scales these points from each critic, and at the end it adds everything up and chooses the highest score.

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So, as I understand, there is no range for the scale parameter? I can set it to whatever value I want and then, the best trajectory will be the one with the highest score, which it is supposed to match with the highest critic scale set, right?

marpeja gravatar image marpeja  ( 2022-08-30 05:38:34 -0500 )edit

I understand it the same way you wrote :)

ljaniec gravatar image ljaniec  ( 2022-08-30 05:44:30 -0500 )edit

Thank you!

marpeja gravatar image marpeja  ( 2022-08-30 05:50:14 -0500 )edit

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Asked: 2022-08-30 04:28:39 -0500

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Last updated: Aug 30 '22