TEB plan the terrible results without HPC

[Astaxuqichao]

When i use test_optim_node and change footprint model, the TEB sometimes get a terrible result and seem to ignore the footprint (HPC closed).The trajectory is closed to obstacle , even it will follow obstacle moving.

My parameters are as follows , and others are default:

min_obstacle_dist: 0.1
enable_homotopy_class_planning: false
footprint_model:
  type: "polygon"
  vertices: [[-0.525, -0.52], [-0.525, 0.52], [0.525, 0.52], [0.525, -0.52]]

[jcmonteiro]

I am a little late on this reply, but you need to adjust your optimization parameters. The planner will not, necessarily, work out of the box.