Resolves ros-navigation#938 (ros-navigation#1747)

The forward_point_distance used in the GoalAlign and PathAlign critics projects the current pose forward a default 0.325 meters before scoring the trajectory. This can cause velocities that create sharp turns into obstacles to be chosen (reproducible with the Turtlebot3 simulation).

For TB3, which is small in size, 0.325 meters is too far. Instead, enable GoalAlign and PathAlign critics in the DWB controller and shorten the critics' forward_point_distance (how far the current pose is project given the current orientation before scoring the trajectory) from the default 0.325 meters to 0.1 meters which improves stability when running with TB3.

Signed-off-by: Jack Pien <jack@jackpien.com>

nav2_bringup/bringup/params/nav2_params.yaml

@@ -116,8 +116,10 @@ controller_server:
     FollowPath.stateful: True
     FollowPath.critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
     FollowPath.BaseObstacle.scale: 0.02
-    FollowPath.PathAlign.scale: 0.0
-    FollowPath.GoalAlign.scale: 0.0
+    FollowPath.PathAlign.scale: 32.0
+    FollowPath.GoalAlign.scale: 24.0
+    FollowPath.PathAlign.forward_point_distance: 0.1
+    FollowPath.GoalAlign.forward_point_distance: 0.1
     FollowPath.PathDist.scale: 32.0
     FollowPath.GoalDist.scale: 24.0
     FollowPath.RotateToGoal.scale: 32.0