dwb-controller

To configure the DWB Local Planner, you set velocity and acceleration limits, trajectory timing, and critic weights in YAML frontmatter and runtime parameters. This enables stable, collision-free trajectory generation for differential-drive Nav2 setups.

Velocity sampling in DWB is a dynamic-window-based approach that generates discrete velocity commands for short-horizon trajectory evaluation. It forward-simulates these trajectories and scores them with critics to ensure reliable path following in dynamic environments.

Yes, DWB Local Planner is specifically designed for differential-drive Nav2 setups in dynamic environments. It supports velocity and acceleration limits alongside trajectory generator selection to fit your robot's specific dynamics for real-time obstacle navigation.

Critic configuration and trajectory scoring in DWB are set through YAML frontmatter and runtime parameters. You define critic weights alongside trajectory time and generator selection to control how the planner evaluates and scores forward-simulated motion paths.

The best way to test DWB Local Planner configuration is by running a short local navigation test in Gazebo. After setting your velocity bounds, acceleration limits, and critic weights, simulation validates that your robot navigates obstacles smoothly under real-time constraints.