Revision history [back]

Hello. I discovered that it will do an initial in-place rotation toward the planned path if you set this base_local_planner parameter: heading_scoring: true

You may also want to set heading_scoring_timestep, perhaps to match the value that you set sim_time to. Its default of 0.1 seconds did not work well for us.

Before discovering this parameter, we had implemented a custom node to sit between the output of the nav stack and /cmd_vel which would force an initial in-place rotation, but now we no longer need that.