teb_local_planner process died

[apeng-yp]

when i use teb_local_planner, this has some error sometimes. this prints is [teb_local_planner]: EdgeVelocity::computeError() _error[0]=nan _error[1]=nan. my config is wrong?

[automech-rb]

Hi @apeng-yp I had similar error and found that it usually occur with planner creating in-place rotation. This is because deltaT estimate is zero on following line. https://github.com/rst-tu-dortmund/teb_local_planner/blob/0e839074c3407ff9ee2206a49567a20bd49fd8cc/include/teb_local_planner/g2o_types/edge_velocity.h#L106

Can you let me know which planner you are using?

[apeng-yp]

Hi @automech-rb Thank you for your attention, i use the nav2_navfn_planner/NavfnPlanner and nav2_straightline_planner/StraightLine, all have the same problem。

[apeng-yp]

Hi @automech-rb What kind of planner were you using？ Have you solved or circumvented the problem？