How to deal with slow steering system on vehicle? - Githubissues

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

1.06k stars 550 forks source link

How to deal with slow steering system on vehicle? #412

Open guidout opened 1 year ago

guidout commented 1 year ago

Hello, the machine I'm trying to deploy the TEB planner on has a very slow responsding steering system. There is a considerable delay between command and actual steering actuator movement and the movement is pretty slow.

I find TEB constantly chasing the steering due to its slow response.

How could I attempt to address this issue?

Thank you!

ps: also asked a generic quesiton here https://answers.ros.org/question/416946/nav2-controller-tuning-for-vehicle-with-poor-steering-performance-slow-response/

LotfiZ commented 2 months ago

Did you feedback the actual odometry to TEB ? If yes and still have problem you need to add a constraint regarding the steering rate