Error while reading params file

[vimalrajayyappan]

Following are the parameters I'm using for TEB Local Planner [ROS2 , Foxy version]

• While using circular footprint model there were no issues. the params are:

     plugin: "teb_local_planner::TebLocalPlannerROS"
      footprint_model.type: circular
      footprint_model.radius: 2.3

• But when I switch to polygon model I got error as : what(): failed to initialize rcl: Couldn't parse params file:

The params I'm using are

  plugin: "teb_local_planner::TebLocalPlannerROS"
  footprint_model.type: polygon  
  footprint_model.vertices: [[-0.27, 0.315], [0.27, 0.315], [0.27, -0.315], [-0.27, -0.315]]
  min_obstacle_dist: 0.5
  inflation_dist: 1.0 #0.1
  # costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
  costmap_converter_plugin: ""
  costmap_converter_spin_thread: True
  costmap_converter_rate: 15
  enable_homotopy_class_planning: False
  enable_multithreading: True
  optimization_verbose: False
  teb_autoresize: True
  min_samples: 5
  max_samples: 20
  max_global_plan_lookahead_dist: 2.5 #2.0
  visualize_hc_graph: True
  max_vel_x: 1.3 #0.26
  max_vel_theta: 1.0  #1.0
  acc_lim_x: 1.8
  acc_lim_theta: 1.5
  min_turning_radius: 3.0
  transform_tolerance: 0.2
  yaw_goal_tolerance: 0.05 
  xy_goal_tolerance: 0.1

Looking for help. Thanks in advance! :)

[vimalrajayyappan]

Hi team, Please have a look and kindly provide your valuable advise.

[Natthawe]

  footprint_model:
    type: "polygon"
    vertices: "[[-0.27, 0.315], [0.27, 0.315], [0.27, -0.315], [-0.27, -0.315]]"