What problem does it solve? Tuning the DWB local planner in ROS2 Nav2 requires understanding how each critic plugin scores trajectories, yet the parameters, defaults, and interactions between critics are scattered and easy to misconfigure, leading to poor path tracking, oscillation, or collisions. ## Core Features & Use Cases - Critic Reference: Documents every DWB critic (PathDist, GoalDist, GoalAlign, PathAlign, BaseObstacle, ObstacleFootprint, RotateToGoal, Oscillation, PreferForward, TwirlingCritic, MapGrid) with parameters, defaults, and behavior. - Tuning Guidance: Explains the linear scale scoring model and provides recommended scale values for indoor differential-drive robots. - Performance Optimization: Covers critic ordering with short-circuit trajectory evaluation to reject colliding trajectories early and reduce CPU cost. - Use Case: A robot overshoots the goal before rotating; consult the RotateToGoal section to adjust xy_goal_tolerance and slowing_factor for correct final alignment. ## Quick Start Ask the assistant to tune the DWB critics in your Nav2 controller configuration so the robot tracks the global path tightly without oscillating near obstacles.
