Hi All,

I'm having some problems with movebase with baselocalplanner and globalplanner. I am using an omnidirectional robot with Mecanum wheels. For some reason, move_base prefers to move forward, only moving in reverse or strafing as a last option if the robot gets too close to an object, even if those motions would work better to reach the goal. Anyone know why that would be?

I also have another odd problem. Occasionally, when making an in-place rotation, movebase sends velocities that are higher than what I specified in the config file. It was my understanding that movebase should be limited to the max and min velocities specified. Does anyone know why it does this?

TrajectoryPlannerROS:
  #Robot config parameters
  acc_lim_x: 1.7
  acc_lim_y: 1.7
  acc_lim_th: 2.5
  max_vel_x: 0.5 
  min_vel_x: 0.05
  max_vel_theta: 0.075
  min_vel_theta: -0.075
  min_in_place_vel_theta: 0.05
  escape_vel: -0.25
  holonomic_robot: true
  y_vels: [-0.5, -0.1, 0.1, 0.5]

  #Goal tolerance parameters
  yaw_goal_tolerance: 0.0872664626
  xy_goal_tolerance: 0.1524 
  latch_xy_goal_tolerance: false

  #forward simulation parameters
  sim_time: 1.7 
  sim_granularity: 0.025
  angular_sim_granularity: 0.025
  vx_samples: 10
  vtheta_samples: 20 
  controller_frequency: 20.0

  #trajectory scoring parameters
  meter_scoring: false
  pdist_scale: 0.7
  gdist_scale: 0.8 
  occdist_scale: 0.01
  heading_lookahead: 0.325
  heading_scoring: false
  heading_scoring_timestep: 0.8
  dwa: false
  publish_cost_grid_pc: false
  global_frame_id: /odom

  #Oscillation prevention parameters
  oscillation_reset_dist: 0.05

  #Global plan parameters
  prune_plan: true