dwb-controller
CommunityTune Nav2 DWB for safe, efficient motion.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
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.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: dwb-controller Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#dwb-controller Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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