teb_local_planner

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The path calculated by TEB will pass through obstacles

2

When using teb, I found that obstacles have a big impact on its results. Sometimes the path goes straight through obstacles. When passing through the door, the path didn’t go...

Today20180409

hi, guys, when i compiled teb_local_planner with catkin_make -DCATKIN_WHITELIST_PACKAGES="teb_local_planner", internal_compiler_error turned out. `[ 83%] Building CXX object teb_local_planner/CMakeFiles/teb_local_planner.dir/src/graph_search.cpp.o c++: internal compiler error: 已杀死 (program cc1plus) Please submit a full bug...

lucafei

Hi, We were so far using Foxy, that still had the `tf2_geometry_msgs.h` header file in the debian release (0.17.2-1focal.20211011.234834) and had no issue using TEB on the foxy branch. I'm...

guilyx

How to use it for gazebo simulation and how to use it for actual mobile robots?

1

Hello, I followed the steps to download and compile the teb local path planning algorithm. I would like to ask how to use it for gazebo simulation and how to...

hxj0316

Why is `penality_epsilon` a flat error instead of relative?

2

`penalty_epsilon` is used in the edges to as safety margin. The value is flat (eg. 0.15) and used for almost everything. For example, if max speed `max_vel_x` is set to...

VRichardJP

Improve the performance of computing sin and cos functions

15

Once again, this PR affects quite a lot of files, but the change is actually not that big; besides, it is optional. :nerd_face: ### TL;DR For me, this PR saves...

jcmonteiro

Add prevent_look_ahead_poses_near_goal to fix oscillation

1

In testing, I found that setting the new parameter control_look_ahead_poses to 3 improved path following accuracy very much. However, in cases where need to arrive at a very precise goal...

howardcochran

new edges for carlike robots

3

EdgeAcceleration: limitation of steering rate EdgeKinematics: limitation steering angle EdgeInflatedObstacle: squared decay for inflation radius, high cost for min obstacle distance EdgeVelocity: penalty for omega, if leading to a smaller...

loewt

[feature request] add penalty for switching forward/reverse (carlike)

4

Currently, teb_local_planner assumes it is possible to instantly switch from going forward to going backward (and from backward to forward) with no penalty (e.g. with constant acceleration from +1.0 to...

VRichardJP

Tuning the behavior of teb planner for tricycle kinematics with front steering and drive

4

I'm trying to use the teb local planner for a tricycle robot with a front steered wheel. The front wheel is also the driven wheel. I am noticing a lot...

olivebardoza