Jorge Santos Simón

Hi @ibdbmaster, probably you already found it, but just in case: ``` git clone https://github.com/spencer-project/spencer_messages.git ``` But this package doesn't compile with ROS navigation kinetic; I'm trying instead [plugin_global_planner branch](https://github.com/thobotics/srl_global_planner/tree/plugin_global_planner)...

Nop, didn't manage to get anything usable. @reobaird, do you have your version without spencer dependencies available as a fork? Would you mind to make it public if nor? Thanks!

> In spencer_messages respository, checkout into fef6a8bf, than you can find the spencer_navigation package. Not working on this anymore, but thanks for telling! :+1:

To my understanding, all depends on what the user planner supports, right? By default ROSPlan uses POPF, that does not fully support ADL. But it is possible the change the...

@m312z, thanks for the comment. What are the currently supported planners? And is POPF the best option among them? Cannot find anything about using different planners in the documentation.

Interesting point; I suppose what @orsalmon wants is that pickup by moveit fails if the grasp plugin doesn't attach any object, and so the pick action won't change the object...

I see the problem; but seems to me that PR #24 is adapting to the parameters namespace structure created with [this example configuration](https://github.com/rst-tu-dortmund/mpc_local_planner/blob/master/mpc_local_planner/cfg/test_mpc_optim_node.yaml) I think it would had been simpler...

> Hello, has there been any progress regarding this? I would like to use TEB with humble on Ubuntu 22.04, currently I'm having errors when building from source in galactic...

Same problem here, even with acc_lim_theta set to 1. @akashjinandra, happens equally going forward and backward? Looks so in your captures.

Actually, I got (mostly) rid of this problem by using global_planner instead of navfn. I set orientation_mode = Forward and invert the path myself if that reduces the total rotation-in-place...