dwb-critics
CommunityTune DWB critics for safer, smarter trajectories.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Configure and tune DWB critic plugins to improve trajectory scoring, safety, and navigation performance in ROS 2.
Core Features & Use Cases
- Parameterize and tune each DWB critic: PathDist, GoalDist, PathAlign, GoalAlign, ObstacleFootprint, RotateToGoal, Oscillation, and MapGrid, with per-critic scales and behaviors.
- Guidance on critic ordering and short-circuiting to optimize planning speed and safety.
- Use cases include aligning trajectories in narrow corridors, avoiding obstacles, achieving correct final orientation, and reducing oscillations during transit.
Quick Start
Update the DWB critic scales in your YAML and execute the planner to see how trajectories are scored and selected.
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-critics Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#dwb-critics Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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