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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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Polygon footprint model is not detecting obstacle collision #331

Closed siferati closed 2 years ago

siferati commented 2 years ago

Robot collides with obstacles when using polygon footprint, but works fine for other footprint models.

You can see in the following video (line model) the robot correctly stops before collision: infeasible footprints show in red and there are WARN logs about trajectory infeasibility.

https://user-images.githubusercontent.com/15384781/143421514-a16c42ea-ed2b-4606-93d5-0ec67166e6aa.mp4

But in the following video (polygon model) the robot does not stop: there are no infeasible footprints in red, and WARN logs only appear after the robot has already collided with the obstacle.

https://user-images.githubusercontent.com/15384781/143421963-812fdc95-b7c3-4758-9944-c800e22f73cb.mp4

corot commented 2 years ago

I realized that this is an effect of setting inflation weight to 1. Reducing it to 0.1 solved the problem