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Having looked at the code in detail, there are some more minor differences. The trajectory_planner_ros considers trajectories with positive x velocities and in place rotations first. And only if no valid trajectory is found that way does it consider strafing. This helps for robots which have obstacle sensors in front mostly, like the PR2. Also there is a mechanism to unstuck the robot by moving backwards discarding map obstacles in the trajectory_planner_ros.

In my personal opinion, the dwa_planner is the one that should be used when you are not sure, as the code base is cleaner and easier to bugfix and extend.