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locusrobotics / robot_navigation

Spiritual successor to ros-planning/navigation.
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Why is there a 0.5 coefficient for trajectory critics scoring? #91

Open willxxx0909 opened 3 years ago

willxxx0909 commented 3 years ago

double getScale() const override {return costmap->getResolution() 0.5 scale;}

In the getScale() function of mapgrid.cpp, I understand the getResolution() * scale for mapping the score into map frame with a scale num, but why is it multiplied with a 0.5?

DLu commented 3 years ago

Reference

The short answer is that the scales for the dwb_critics were tuned to match dwa_local_planner, but digging through that code, I can't immediately find the reason for the 0.5.