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locusrobotics / robot_navigation

Spiritual successor to ros-planning/navigation.
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path_distance_bias parameter is ignored by the PathDist critic #26

Closed mbharatheesha closed 5 years ago

mbharatheesha commented 5 years ago

The path_distance_bias parameter is not used in the PathDist critic function, although it is moved to a new parameter within the PathDist critic namespace. Is this intentional?

DLu commented 5 years ago

So DWA has the path_distance_bias parameter that is used to control how much the path distance is weighted.

DWB uses a more generic scale parameter for each critic. If you're loading a DWA configuration with DWB the parameter is moved to maintain the functionality

So unless I misunderstand you, it is intentional. The parameter is used but not under the same name.

mbharatheesha commented 5 years ago

Thanks for your response. I verified the parameter usage with the scale name and it works as intended.