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dwa_local_planner penalize negative x velocities

Hi all,

I am using dwa_local_planner as my local planner and there is a parameter penalize_negative_x in the yaml file. In my case, it does not seem to have any affect, if I give my min_vel_x: -0.2, it prefers to go in the reverse direction for long duration although penalize_negative_x : true whereas it should turn in place and go forward. Also, I was not able to find penalize_negative_x parameter anywhere in the source code of dwa_local_planner which makes me think if its really being used or not?

Any help will be appreciated. Let me know if you need more information from me.

I am using dwa_local_planner as my local planner and there is a parameter penalize_negative_x in the yaml file. In my case, it does not seem to have any affect, effect, if I give my min_vel_x: -0.2, it prefers to go in the reverse direction for long duration although penalize_negative_x : true whereas it should just turn in place and go forward. Also, I was not able to find penalize_negative_x parameter anywhere in the source code of dwa_local_planner which makes me think if its really being used or not?