Wierd trajectory output

[OxDuke]

Hi Sikang, Thank you for sharing your code. I am playing around with different parameters in the file: mpl_ros/mpl_test_node/launch/map_planner_node/test.launch. Specifically, changing start/goal positions and dt. However, sometimes rviz gives wierd trajectories: E.g. with the following setup:

    <!-- Set start and goal -->
    <param name="goal_x" value="3.0"/>
    <param name="goal_y" value="17.0"/>
    <param name="goal_z" value="0.05"/>
    <param name="start_vx" value="0.0"/>
    <param name="start_vy" value="2.0"/>
    <param name="start_vz" value="0.0"/>
    <param name="start_x" value="12.0"/>
    <param name="start_y" value="1.5"/>
    <param name="start_z" value="0.05"/>
    <!-- Set dynamic constraints -->
    <param name="v_max" value="2.0"/>
    <param name="a_max" value="1.0"/>
    <param name="yaw_max" value="0.5"/>
    <param name="u" value="1.0"/>
    <param name="u_yaw" value="0.5"/>
    <param name="dt" value="0.25"/>
    <param name="use_3d" value="true"/>
    <param name="use_yaw" value="false"/>

Rviz gives: My questions are:

• Why would the trajectory not reaching the goal (I suppose the goal is the red circle)?
• Why would there be a line segment in the middle of the trajectory?
• Why does the line segment not having any velocity indication? It seems like if I use dt=1.0, the trajectory would look normal.

Thank you for your time, Weidong

[sikang]

Let me take a look, this bug should have been fixed long time ago....

[OxDuke]

Hi Sikang, May I ask if the bug has been solved?