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After checking the code and adding some debug-output I found the issue: It is not a problem in the teb planner but the footprintCost function of the base_local_planner::CostmapModel sometimes fails to convert a footprint point to map coordinates for some unknown reason (which silently results in the same output as an obstacle would).

So I did not yet manage to solve the problem but it is probably independent of the teb planner.

After checking the code and adding some debug-output I found the issue: It is not a problem in the teb planner but the footprintCost function of the base_local_planner::CostmapModel sometimes fails to convert a footprint point to map coordinates for some unknown reason (which silently results in the same output cost as if there was an obstacle would).obstacle).

So I did not yet manage to solve the problem but it is probably independent of the teb planner.

After checking the code and adding some debug-output I found the issue: It is not a problem directly in the teb planner but the footprintCost function of the base_local_planner::CostmapModel sometimes fails to convert a footprint point to map coordinates for some unknown reason coordinates, because it is outside of the local costmap (which silently results in the same cost as if there was an obstacle).