TEB Local Planner jerky in negative x direction
When I issue the robot command goal to go forward in the map in real life, the robot is able to do so smoothly and quickly. There is a bit of a "heading hunting" issue but we can tune for that. However, when we request the robot to travel in the negative x-direction, it rotates to face the goal, but then the motion is extremely jerky and unsure. Anyone came across such an issue before?
This is my TEB_params
TebLocalPlannerROS:
odom_topic: /caato_0/odom
map_frame: caato_0/odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
global_plan_overwrite_orientation: False
max_global_plan_lookahead_dist: 3.0
feasibility_check_no_poses: 5
publish_feedback: True
# Robot
max_vel_x: 0.4
max_vel_x_backwards: 0.4
max_vel_theta: 0.3
acc_lim_x: 0.25
acc_lim_theta: 0.5
min_turning_radius: 0.0
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "polygon"
# line_start: [-0.3, 0.0] # for type "line"
# line_end: [0.3, 0.0] # for type "line"
# front_offset: 0.2 # for type "two_circles"
# front_radius: 0.2 # for type "two_circles"
# rear_offset: 0.2 # for type "two_circles"
# rear_radius: 0.2 # for type "two_circles"
# vertices: [ [0.25, -0.05], [0.18, -0.05], [0.18, -0.18], [-0.19, -0.18], [-0.25, 0], [-0.19, 0.18], [0.18, 0.18], [0.18, 0.05], [0.25, 0.05] ] # for type "polygon"
vertices: [ [0.3, 0.28], [0.3, -0.28], [-0.5, -0.28], [-0.5, 0.28] ]
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.25
inflation_dist: 0.1
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 30
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1
weight_obstacle: 50
weight_dynamic_obstacle: 10 # not in use yet
selection_alternative_time_cost: False # not in use yet
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
simple_exploration: False
max_number_classes: 2
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_keypoint_offset: 0.1
obstacle_heading_threshold: 0.45
visualize_hc_graph: False
# Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration: 10
oscillation_recovery: True
oscillation_v_eps: 0.1
oscillation_omega_eps: 0.1
oscillation_recovery_min_duration: 10
oscillation_filter_duration: 10