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Repeat to go to the same trajectory #18

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ghhhgfgh opened this issue Jul 5, 2021 · 2 comments
Open

Repeat to go to the same trajectory #18

ghhhgfgh opened this issue Jul 5, 2021 · 2 comments

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@ghhhgfgh
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ghhhgfgh commented Jul 5, 2021

I used it in move base. I used the SpiralSTC as the global planner, DWA as the local planner . From the Figure one it can see that the planing is all-covered, it seems good. But when the robot goes, continues to go in a small-part trajectory , like the figure 2. What 's wrong with me?
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@ghhhgfgh ghhhgfgh changed the title Reply to go to the same trajectory Repeat to go to the same trajectory Jul 5, 2021
@ghhhgfgh
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ghhhgfgh commented Jul 7, 2021

It seems the normal local planners such as DWA TEB MPC cannot follow the trajectory provided by the SpiralSTC global planner because the global trajectory is curl, and it's not easy to follow it.

@Timple
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Timple commented Jul 8, 2021

the global trajectory is curl

What do you mean by this?

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@Timple @ghhhgfgh