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utexas-bwi / eband_local_planner

ROS Local planner based on the eband approach. Based on the original implementation by Christian Connette and Bhaskara Marathi. This local planner has been adapted primarily for differential drive robots, but still supports the original holonomic drive controls.
http://wiki.ros.org/eband_local_planner
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still seeing logical loops while executing path #7

Closed piyushk closed 11 years ago

piyushk commented 11 years ago

The robot seems to be getting stuck while following the path. Giving it an alternative destination works temporarily.

piyushk commented 11 years ago

I was only able to reproduce this error once, and the output of eband_local_planner seemed reasonable. My only guess at this time is that gazebo_ros_diff_drive has a bug, or there are some problems with the contact of the wheels to the ground in the simulator. Using the simple collision model with gazebo_ros_planar_move seems to be fine.

I'll leave this open for now and investigate it further as time allows.

piyushk commented 11 years ago

wheel velocity output from gazebo_ros_diff_drive seems reasonable.