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ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
GNU General Public License v3.0
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apf Local path planning #60

Open zvemif opened 7 months ago

zvemif commented 7 months ago

When I use APF as a local path planning method, when the robot reaches the endpoint, it will deviate from the target point and will not stop at the target point. 88eb08e9a89dcb006862e40c4ced411 05fe7b9927b1a736c1503d05d6dab73

omigeft commented 7 months ago

You can try adjusting the goal_dist_tolerance and rotate_tolerance parameters in src/sim_env/config/planner/apf_planner_params.yaml and then give it another try. If the bug still occurs, we hope you can provide more detailed configuration information so that we can reproduce it.