Forward speed varies dramatically

rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

http://wiki.ros.org/teb_local_planner

BSD 3-Clause "New" or "Revised" License

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Forward speed varies dramatically #309

Open pangxiansen123 opened 3 years ago

pangxiansen123 commented 3 years ago

The forward speed changes dramatically. When I increase the weight of acceleration, the robot runs at a very slow speed. What should I do?

dbihar commented 1 year ago

I have the same problem. Partly solved by better driving robot. Ive noticed if cmd_vel is at 0.5 and my robot doesn't follow cmd_vel that well, then TEB readjusts cmd_vel and cmd_vel becomes jerky. If robot would drive by cmd_vel more precisely, this thing that you described would solve itself.