change sbpl_lattice_planner preference to reverse motion?
Sbpl_lattice_planner's default for navigation seems to be to move forward with minimal reverse movements. It seems to choose inefficient routes in order to move forward rather than in reverse. For example, sometimes it will turn around prior to running a forward route rather than taking a simpler reverse route.
1-Is this true?
2-Is there any functionality in sbpl_lattice_planner to make the default to be to prefer moving in reverse with minimal forward motion?
The robot has Ackermann-like steering and it needs to move predominately in the reverse direction. We could switch the forward direction to reverse however there are times where forward motion is needed.
Out of curiosity, which local planner are you using for your robot?
We created a custom local planner
Is the source available somewhere? There's a distinct lack of good local planners for ackermann-style vehicles.
I will second this. I will confirm the solution below works, as I have made primitives for ackermann for SBPL. I am working on making my own local planner, but would be up for working with some people on it. Have even been looking at converting "carlike planner" or seeing how hector is doing it.
The local planner is in a very preliminary stage. It does not adhere to the nav_core::BaseLocalPlanner interface, does not use cmd_vel nor the ackermann steering message types, and will unfortunately not be universally helpful in other ways. I will let you know if something changes