occdist_scale should not be scaled by the costmap resolution as it do…

…esn't multiply a value that includes a distance. (#1000)
ros-planning · Jun 5, 2020 · b496f68 · b496f68
1 parent 9776ab3
commit b496f68
Showing 1 changed file with 0 additions and 1 deletion.
diff --git a/base_local_planner/src/trajectory_planner_ros.cpp b/base_local_planner/src/trajectory_planner_ros.cpp
@@ -198,7 +198,6 @@ namespace base_local_planner {
           double resolution = costmap_->getResolution();
           goal_distance_bias *= resolution;
           path_distance_bias *= resolution;
-          occdist_scale *= resolution;
         } else {
           ROS_WARN("Trajectory Rollout planner initialized with param meter_scoring set to false. Set it to true to make your settings robust against changes of costmap resolution.");
         }