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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 obstacles #389

Closed Fancy-a-good-name closed 2 years ago

Fancy-a-good-name commented 2 years ago

After the algorithm is reproduced in ROS, I just replaced the pointobstacles with polygonobstacles. But the result is shown in the figure. I would like to ask what causes this.After debugging, it is found that g2o recorded this obstacle when creating edges.I don't know why this happens, so I'd like to ask you guys. thanks！！！

image

jaykorea commented 1 year ago

same issue here

xhy1599 commented 1 year ago

have you solved the problem?

jaykorea commented 1 year ago

have you solved the problem?

I just activate via sep points to avoid this issue