adjusted dwb_local_planner_params

DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.

BSD 3-Clause "New" or "Revised" License

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adjusted dwb_local_planner_params #43

Closed niniemann closed 4 years ago

niniemann commented 4 years ago

use split_path option to enforce following complex paths (see here)
more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.
removed Oscillation and PathAlign critics during the debugging process. Did not put them back in as they don't seem to be necessary.

mintar commented 4 years ago

Thanks! I've put the PathAlign critic back in (without it, the robot veers more from side to side instead of keeping the nose on the path), changed some comments and merged via bc6c4ff4 .