Closed TakaHoribe closed 1 year ago
no one is assigned now
I test the "rrtstar" in the parking.The path display planning is successful, but the trajectory of motion_velocity_smoother display wrong is in the process of control. Simulation of the video as follows:
It is caused by driving direction change point error. I will fix it.
Checklist
Description
planning fails when driving in parking lots with
rrtstar
algorithm in thefreespace_planner
.The solved trajectory by the
freespace_planner
is visualized as in the picture below, but the output from themotion_velocity_smoother
is not visualized.Attach the terminal output for further information.
Expected behavior
arrive at a goal with
rrtstar
algorithm in parking scenario.Actual behavior
planning fails and it won't arrive at a goal
Steps to reproduce
astar
torrtstar
Versions
No response
Possible causes
No response
Additional context
No response