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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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TEB not aligning the footprint to traverse narrow passages #366

Open corot opened 2 years ago

corot commented 2 years ago

As can be seen in the video, TEB won't use holonomic capabilities of the robot to properly align the footprint to traverse a narrow passage:

https://user-images.githubusercontent.com/322610/169939896-05407148-75d1-40be-b55d-7fc81093139a.mp4

Instead it tries to move forward, what it's impossible.

Interestingly, we can force it to work properly by disabling global_plan_overwrite_orientation and providing a global plan with the right orientation:

https://user-images.githubusercontent.com/322610/169941526-de790548-e51c-4ef8-90a5-e566bb892120.mp4

Probably related to #354