Jorge Santos Simón

_interpolate_ is intended for omnidirectional bases... what I use is _forward_ For the question, planner actually cares about obstacles, but there are some parameters that affects how it does. Obstacles...

After some research, I narrowed down the problem, but still don't have a solution. For some unknown reason, the `dt` of the TEB poses don't get updated when strafing, I...

Still not fixed, but I narrowed down the problem a bit more. Looks like the [EdgeAccelerationHolonomicStart](https://github.com/rst-tu-dortmund/teb_local_planner/blob/38be03dbd59f81667f12589be1851de08faabc8d/include/teb_local_planner/g2o_types/edge_acceleration.h#L566), as I can avoid the problem by setting _error[1] to 0, or weight_acc_lim_y to...

@doisyg, remember, I invite u to yakiniku!

> I forgot about this one for a while. Would this PR be interesting? Should I consider modifications to improve it (besides resolving the conflicts)? If it delivers the performance...

I didn't notice any speedup on computeVelocityCommands methods. Those are the times for 100 consecutive calls w/o and w/ fast sin/cos doing the same route: std: 0.425189 0.716500 0.751879 0.404824...

> Hi, I'm a bit confused to see it does not improve things in your side =/ me too! I tried to rule out some possibilities: - I'm using circular...

Hey, thanks for the PR; very valuable. I open another PR to melodic. I suppose you don't care anymore about merging this to kinetic, right?

Same with the [global planner](https://github.com/ros-planning/navigation/blob/ada542feae238cc85eeab9944cc39e37eee93481/move_base/src/move_base.cpp#L450). I think it makes sense to lock the costmaps when about to read them in the planners, so you don't read them right when they...

FYI, on the new [move base flex](https://github.com/magazino/move_base_flex/issues/4), we plan to drop this locking and advice plugin developers to adapt their code. As a showcase of why we think this is...