teb_local_planner
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Error while reading params file
Following are the parameters I'm using for TEB Local Planner [ROS2 , Foxy version]
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While using circular footprint model there were no issues. the params are:
plugin: "teb_local_planner::TebLocalPlannerROS" footprint_model.type: circular footprint_model.radius: 2.3
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But when I switch to polygon model I got error as : what(): failed to initialize rcl: Couldn't parse params file:
The params I'm using are
plugin: "teb_local_planner::TebLocalPlannerROS"
footprint_model.type: polygon
footprint_model.vertices: [[-0.27, 0.315], [0.27, 0.315], [0.27, -0.315], [-0.27, -0.315]]
min_obstacle_dist: 0.5
inflation_dist: 1.0 #0.1
# costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 15
enable_homotopy_class_planning: False
enable_multithreading: True
optimization_verbose: False
teb_autoresize: True
min_samples: 5
max_samples: 20
max_global_plan_lookahead_dist: 2.5 #2.0
visualize_hc_graph: True
max_vel_x: 1.3 #0.26
max_vel_theta: 1.0 #1.0
acc_lim_x: 1.8
acc_lim_theta: 1.5
min_turning_radius: 3.0
transform_tolerance: 0.2
yaw_goal_tolerance: 0.05
xy_goal_tolerance: 0.1
Looking for help. Thanks in advance! :)
Hi team, Please have a look and kindly provide your valuable advise.
footprint_model:
type: "polygon"
vertices: "[[-0.27, 0.315], [0.27, 0.315], [0.27, -0.315], [-0.27, -0.315]]"