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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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Fix #359: Remove penalty_epsilon from max_vel_x error calculation #404

Closed corot closed 1 year ago

corot commented 1 year ago

Check issue #359 for a detailed description of the problem and PR #402 for a reproducing it

I'm not sure about how this solves the problem, but seems to work. I'll keep as a draft until I understand what's going on

UPDATE: @RainerKuemmerle agrees that this change makes sense. He believes that what happens is that this epsilon affects the numeric evaluation of the gradient at some point. Also we are using the change at Rapyuta w/o issues, so I change to ready for review