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nobleo / full_coverage_path_planner

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area
Apache License 2.0
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Repeat to go to the same trajectory #18

Open ghhhgfgh opened 3 years ago

ghhhgfgh commented 3 years ago

I used it in move base. I used the SpiralSTC as the global planner, DWA as the local planner . From the Figure one it can see that the planing is all-covered, it seems good. But when the robot goes, continues to go in a small-part trajectory , like the figure 2. What 's wrong with me?

1 2
ghhhgfgh commented 2 years ago

It seems the normal local planners such as DWA TEB MPC cannot follow the trajectory provided by the SpiralSTC global planner because the global trajectory is curl, and it's not easy to follow it.

Timple commented 2 years ago

the global trajectory is curl

What do you mean by this?