Vehicle unable to move normally about full_coverage_path_planner

[rokusottervanger]

Pro tip: you can add GIFs in your comments to show what's happening.

I think what is happening here is that your local planner sees two poses in the path, and does not "know" which one to pick first. You might want to interpolate the global plan first, before you follow it with a local planner, or configure your local planner such that it prioritizes points further along the path (if possible).

[1234564lll]

Pro tip: you can add GIFs in your comments to show what's happening.

I think what is happening here is that your local planner sees two poses in the path, and does not "know" which one to pick first. You might want to interpolate the global plan first, before you follow it with a local planner, or configure your local planner such that it prioritizes points further along the path (if possible).

So should I give up the TEB planner and choose another planner

[rokusottervanger]

I think the TEB planner is overkill in this context, as it is designed to a lot of the global planning for you too. I would use something like a DWA planner, or something even simpler to follow a path like this.

If you do want to use the TEB planner, I think it allows you to sample the global plan with "via points": global_plan_viapoint_sep, and add a weight to the optimization such that its plan is pulled towards the via points. That should help with getting the TEB planner to work.

Disclaimer: I have never tried this combination myself. I'd love to hear if and how this works for you.

[1234564lll]

I think the TEB planner is overkill in this context, as it is designed to a lot of the global planning for you too. I would use something like a DWA planner, or something even simpler to follow a path like this.

If you do want to use the TEB planner, I think it allows you to sample the global plan with "via points": global_plan_viapoint_sep, and add a weight to the optimization such that its plan is pulled towards the via points. That should help with getting the TEB planner to work.

Disclaimer: I have never tried this combination myself. I'd love to hear if and how this works for you.

I tried to increase or decrease the proportion coefficient, via points, etc., but it still doesn't work, and I have a question. I will give it a target point, will this code eventually stop near the target point