[DRAFT] Modify test_optim_node to reproduce issue #359

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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[DRAFT] Modify test_optim_node to reproduce issue #359 #402

Open corot opened 1 year ago

corot commented 1 year ago

:warning: Not intended for merging!

This PR is just a minimum modification to test_optim_node to reproduce the issue #359 change parameter strafe to true and relaunch to reproduce the issue, as on this video:

https://user-images.githubusercontent.com/322610/218634336-44446831-c547-4411-81d0-a11e397489fd.mp4

corot commented 1 year ago

I have a potential solution, but I have no clue about why it works: removing the epsilon penalty from vx here seems to solve the issue. Draft PR: #404