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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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A goal checker is needed in teb_params.yaml of Galactic #397

Open tosa-no-onchan opened 1 year ago

tosa-no-onchan commented 1 year ago

Hi. I found a goal checker plugin is needed in a sample yaml teb_params.yaml of Galactic.

https://github.com/rst-tu-dortmund/teb_local_planner/blob/galactic/teb_local_planner/params/teb_params.yaml

controller_server: ros__parameters: goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" general_goal_checker: stateful: True plugin: "nav2_controller::SimpleGoalChecker"

xy_goal_tolerance: 0.25

  # changed by nishi
  xy_goal_tolerance: 0.05
  #yaw_goal_tolerance: 0.25
  # changed by nishi
  yaw_goal_tolerance: 0.08