In TrackingPidLocalPlanner::setPlan() the passed global plan is transformed just once into the configured global_frame.
If this latter is configured to be odom, the global plan is sensitive to initial localisation faults.
Other planners (such as dwa_local_planner) convert the inserted global plan every tick into global_frame, using LocalPlannerUtil::getLocalPlan().
In
TrackingPidLocalPlanner::setPlan()the passed global plan is transformed just once into the configuredglobal_frame. If this latter is configured to beodom, the global plan is sensitive to initial localisation faults.Other planners (such as
dwa_local_planner) convert the inserted global plan every tick intoglobal_frame, usingLocalPlannerUtil::getLocalPlan().