Hi,

I have a question regarding the teblocalplanner tutorial package, more precisely regarding the simulation started with the robotcarlikeinstage.launch file of the tutorial package. I already made some tests with the testoptimnode beforehand. I then tried to reproduce the scenario of the testoptim_node in its initial state in the stage simulation. That means, I updated the map for the simulation in such a way, that there is an static obstacle just in front of the robot.

Given this situation I would expect the teblocalplanner to plan two trajectories. One on the left of the obstacle and one on the right of the obstacle (like in the testoptimnode). I activated the visualization via the tebmarker in rviz to see the two different trajectories, but it always only shows one trajectory. But when I activate the parameter visualizehc_graph, I can see, that the planner actually initializes with some trajectories on both sides.

My Parameter configuration equals the default configuration of the tutorialpackage: https://github.com/rst-tu-dortmund/teblocalplannertutorials/tree/kinetic-devel/cfg/carlike

Can anybody give me a hint what I am doing/understanding wrong?

Thank you in advance for your help, Greetings, Frank

EDIT: I made a video to clearify my question: https://www.youtube.com/watch?v=E-NKil_tQrk&feature=youtu.be