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Plugin dwa_local_planner uses path_distance_bias/goal_distance_bias/occdist_scale, but base_local_planner uses pdist_scale/gdist_scale/occdist_scale with the same semantics. the configuration for some robots, as Turtlebot : it uses base_local_planner but sets dwa_local_planner parameters.

https://github.com/turtlebot/turtlebot_apps/blob/indigo/turtlebot_navigation/param/dwa_local_planner_params.yaml

Something similar happens with other parameters min_in_place_rotational_vel/min_in_place_vel_theta or max_rotational_vel/max_vel_theta

so which ı used parameter names are important for planners ?


Originally posted by osmancns on ROS Answers with karma: 153 on 2015-09-16

Post score: 0

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1 Answer 1

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This is where namespaces are very useful, when setting the parameters, say in a launch file you can group things

    <group ns="some-namespace">
        <param ....>
        ...
    </group> 

This way, even if some parameters have similar names, every node gets the right params


Originally posted by makokal with karma: 1295 on 2015-09-18

This answer was ACCEPTED on the original site

Post score: 0


Original comments

Comment by osmancns on 2015-09-28:
I couldnt understand that how can ı use your codes exactly.

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