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
984 stars 545 forks source link

teb generated trajectory has positive z value #386

Open shawkontzu opened 1 year ago

shawkontzu commented 1 year ago

Hi I might be missing some concepts here, but for 2D car like robot why is the output trajectory has pose with non-zero z values? Thank you

Combinacijus commented 1 year ago

Could you update your question and tell which topic you're referring to by saying "output trajectory". And maybe copy rostopic echo message as example?

RainerKuemmerle commented 1 year ago

Are you referring to the visualization markers for the poses? https://github.com/rst-tu-dortmund/teb_local_planner/blob/melodic-devel/src/visualization.cpp#L111 More of a feature to visualize time. Can be set to 0 to obtain a flat marker topic.