test teb and dwa on robot

LCAS / iliad

L-CAS specific works on ILIAD project

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Closed marc-hanheide closed 4 years ago

MFernandezCarmona commented 6 years ago

Tested in simulation.

TEB planner works but each iteration produces very different paths. Robot takes some time changing its steering after each new plan, which again triggers new path requests, thus big oscillations.
DWA is working ok, and what is more, our human aware dwa has been tested on simulation. I don't know if it's worth trying it on the real robot dough.

MFernandezCarmona commented 4 years ago

This is now being done at https://github.com/LCAS/iliad/tree/master/iliad_local_planner. Still under development, as we want to forward the local path to MPC, instead of overriding it as before.