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rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions
BSD 3-Clause "New" or "Revised" License
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planner state stuck in `Init` when close perpendicular goal is selected #89

Closed rayvburn closed 1 year ago

rayvburn commented 1 year ago

1st goal reached: image

2nd not attempted (stuck in InitiateExecution): image

rayvburn commented 1 year ago

The problem was related to a shift between map and odom frames that has significantly increased while the robot was moving to the goal. The goal pose was not updated when the robot was moving so there was the cause.