search

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
992 stars 546 forks source link

control_look_ahead_poses can now be dynamically reconfigured #322

Closed siferati closed 2 years ago

corot commented 2 years ago

We have noticed that this parameter is very useful for robots a bit lethargic reacting to commands. Setting to a higher than 1 value reduces progressively oscillations around the global path. However, 1 is the perfect value for precise control of the same lethargic robots when moving slow.

SteveMacenski commented 2 years ago

@corot I'm not an admin on here on the ROS 1 side, but for something trivial like this I can merge it, but that shouldn't be the baseline expectation.

corot commented 2 years ago

@corot I'm not an admin on here on the ROS 1 side, but for something trivial like this I can merge it, but that shouldn't be the baseline expectation.

Got it. I volunteered myself to help maintaining for ROS1, so if you can provide some reviews, it will be more than enough. It's of if I keep tagging you for future reviews? Thanks!

SteveMacenski commented 2 years ago

I cannot provide reviews for ROS 1, I have too many other responsibilities, I cannot add this among them