Nav2 DWB Controller Trajectory Critics explanation

edit

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.