move_base turns clockwise when counterclockwise would be faster

In both of the scenarios depicted below, by robot turns clockwise. counterclockwise is obviously much faster. It will however turn counterclockwise if the goal is very close to in front of the robot, around 30deg maybe. Anything past that turns the other way.

I have minrotvel set to 0.07, since according to the DWAlocalplanner wiki, it's an absolute value.

fails also fails

Asked by petermitrano on 2016-07-01 18:07:26 UTC

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Apparently this is a consequence of dwa_local_planner and disallowing negative x velocities (driving backwards)?

I'm not posting this as a definitive answer, but simply what someone told me.

Asked by petermitrano on 2016-07-20 12:16:38 UTC