dwb-controller

Name: dwb-controller
Availability: InStock
Author: wimble

Configure and tune the DWB Local Planner for Nav2 differential-drive robots in dynamic environments.

18|2|Updated Apr 20, 2026

Search Tags:#dwb #nav2 #local-planner #trajectory-scoring #velocity-sampling

Ready to run

npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill dwb-controller

💬 Prompt for ChatGPT / Claude Chat▼

Please help me install this Agent Skill.
Skill: dwb-controller
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/dwb-controller
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill dwb-controller

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

DWB provides a dynamic-window-based approach to generate and evaluate short-horizon velocity commands for a mobile robot, enabling reliable path following in cluttered environments.

Core Features & Use Cases

DWB Local Planner: samples discrete velocities, forward-simulates trajectories, and scores them with a configurable set of critics.
Parameterization: supports velocity/acceleration limits, trajectory timing, and trajectory generator selection to fit robot dynamics.
Use Case: configure a differential-drive Nav2 robot to navigate around obstacles with smooth, habit-able trajectories under real-time constraints.

Quick Start

Configure the DWB controller by setting velocity and acceleration limits, trajectory time, and critic weights, then run a short local test in Gazebo.

Frequently Asked Questions about dwb-controller

High-intent search queries and answers about installing and using this skill.

FAQPage Schema

How do I configure the DWB Local Planner in Nav2 for collision-free trajectories?▼

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.

What is velocity sampling in DWB and how does it work for mobile robots?▼

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.

Can I use DWB Local Planner for a differential-drive robot 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.

How do I set up critic weights and trajectory scoring parameters in Nav2 DWB?▼

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.

What's the best way to test DWB Local Planner configuration before deployment?▼

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.