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Published 20 hours ago • verified publisher icon rst-tu-dortmund

Local Plan problem

Open jiangxinyu opened this issue 8 years ago • 7 comments

Hi, Thank your for the update of the algorithm. But I find a new problem in the latest version of the Kinetic. When the planner sometimes replan the local plan, the plan changes into a mass and robot stuck in the place and doesn't move anymore (see the following picture.The red line is the teb_local_plan, and the green line is global plan of the move_base) Please help me how to solve this problem? Thank you very much. image

jiangxinyu avatar Jan 21 '17 08:01 jiangxinyu

I have seen this same issue. It starts to happen after reducing the min_obstacle_dist=0.1 and inflation_dist=0.2 The local path will produce the effect that you are showing frequently and typically will not make progress as it approaches an obstacle.

boilerbots avatar Feb 09 '17 06:02 boilerbots

@boilerbots so the only way to slove this problem is to increse the min_obstacle_dist or chage the inflation_dist parameters?

jiangxinyu avatar Feb 09 '17 08:02 jiangxinyu

I don't have a good solution yet, sorry. I am just commenting to let the maintainer know that there are issues.

boilerbots avatar Feb 09 '17 18:02 boilerbots

thanks for confirming @boilerbots. I will start investigating this in 1-2 weeks.

croesmann avatar Feb 13 '17 08:02 croesmann

sorry, due to some more workload I had to further postpone working on the planner. Starting from next week, I will definitely have some spare time to investigate current issues.

croesmann avatar Mar 13 '17 09:03 croesmann

Hello, I am currently experiencing this problem. How do you solve it? Can you talk about the solution? thank you very much!

berleyzheng avatar May 21 '19 02:05 berleyzheng

Have this problem be solved ?

Noah-Lau avatar Sep 05 '23 02:09 Noah-Lau