enable base obstacle footprint and declare critic scale parameters

nav2_bringup/launch/nav2_params.yaml

@@ -80,8 +80,7 @@ dwb_controller:
     sim_time: 1.7
     linear_granularity: 0.05
     xy_goal_tolerance: 0.25
-    # critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-    critics: ["RotateToGoal", "Oscillation", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+    critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
     BaseObstacle.scale: 0.02
     PathAlign.scale: 32.0
     GoalAlign.scale: 24.0

nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_critic.hpp

@@ -99,7 +99,8 @@ public:
     name_ = name;
     costmap_ros_ = costmap_ros;
     nh_ = nh;
-    nh_->get_parameter_or(name_ + ".scale", scale_, 1.0);
+    nh_->declare_parameter(name_ + ".scale", rclcpp::ParameterValue(1.0));
+    nh_->get_parameter(name_ + ".scale", scale_);
     onInit();
   }
   virtual void onInit() {}