teb_local_planner process died

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

1.03k stars 546 forks source link

teb_local_planner process died #384

Open apeng-yp opened 2 years ago

apeng-yp commented 2 years ago

when i use teb_local_planner, this has some error sometimes. this prints is [teb_local_planner]: EdgeVelocity::computeError() _error[0]=nan _error[1]=nan. my config is wrong? error

automech-rb commented 1 year ago

Hi @apeng-yp I had similar error and found that it usually occur with planner creating in-place rotation. This is because deltaT estimate is zero on following line. https://github.com/rst-tu-dortmund/teb_local_planner/blob/0e839074c3407ff9ee2206a49567a20bd49fd8cc/include/teb_local_planner/g2o_types/edge_velocity.h#L106

Can you let me know which planner you are using?

apeng-yp commented 1 year ago

Hi @automech-rb Thank you for your attention, i use the nav2_navfn_planner/NavfnPlanner and nav2_straightline_planner/StraightLine, all have the same problem。

apeng-yp commented 1 year ago

Hi @automech-rb What kind of planner were you using？ Have you solved or circumvented the problem？