Stopping accuracy is not met

[xujiangfan]

Hi I downloaded the latest code, compiled and debugged it, and found that the stopping accuracy was much worse than my setting; I modified the plan function, as the title; Although the final accuracy meets the requirements, the shock is obvious; Is there any way to make the movement trajectory approach the end slowly without oscillation;

xy_goal_tolerance: 0.01 yaw_goal_tolerance: 0.01

by the way, in teb_local_planner_ros.cpp line 323: // Now perform the actual planning bool success = planner_->plan(robot_pose_, robot_goal_, &robot_vel_, cfg_.goal_tolerance.free_goal_vel); // straight line init //bool success = planner_->plan(transformed_plan, &robot_vel_, cfg_.goal_tolerance.free_goal_vel);

You need to add & before robot_vel_, otherwise code won't compile.

[croesmann]

Hi, please avoid such verbose and confusing issue titles. Are you sure that you cloned the correct branch? Line 323 differs from your line and the call to planner_->plan() is correct and working in melodic-devel branch.