planner_ns/evaluation critics output debugging clues

[artemiialessandrini]

Hi, after getting an answer to this question about DWB_local_planner, I'd like to get some more information about planner_ns/evaluation output and the way to use it for debugging purposes.

Could you please briefly explain, what we expect to get there? I'm currently recieving this:

    scores: 
      - 
        name: "RotateToGoal"
        raw_score: 0.0
        scale: 1.0
      - 
        name: "Oscillation"
        raw_score: 0.0
        scale: 1.0
      - 
        name: "ObstacleFootprint"
        raw_score: 253.0
        scale: 0.000250000011874
      - 
        name: "GoalAlign"
        raw_score: 73.0
        scale: 0.00875000003725
    total: 0.702000021935
best_index: 9
worst_index: 26
---

[artemiialessandrini]

Just found configuring-the-controller and /tunable-params explained in nav2