Hi fellows,

I have been fiddling with the move_base trying to make it follow a sequence of poses I generated myself. To do so, I am using goal_passer from navigation_experimental package as the global planner

<param name="base_global_planner" value="goal_passer/GoalPasser">

Until now I was only getting suboptimal behavior, BUT for some reason I decided to check the parameters of TrajectoryPlannerROS with reconfigure_gui, and as soon as I opened it, my robot started to move perfectly!

Well, I thought that if I did not set some parameters, their default value should be used and that is what should be shown in the reconfiguregui (?!).

Anyway, I copied all the values the reconfiguregui was showing to my parameters file, and launched the programs again. Wow! My robot was moving perfectly! My yaml file now looks like this:

baselocalplannerparams.yaml:

TrajectoryPlannerROS:
  acclimx: 2.5
  acclimy: 2.5
  acclimth: 1
  maxvelx: 1
  minvelx: 0.2
  maxveltheta: 1
  minveltheta: 0
  mininplaceveltheta: 0.4
  simtime: 1.7
  simgranularity: 0.025
  pdistscale: 0.6
  gdistscale: 0.8
  occdistscale: 0.01
  oscillationresetdist: 0.05
  escaperesetdist: 0.1
  escaperesettheta: 1.5708
  vxsamples: 20
  vthetasamples: 20
  headinglookahead: 0.325
  holonomicrobot: false
  escapevel: -0.1
  dwa: false
  headingscoring: false
  headingscoringtimestep: 0.1
  simpleattractor: true
  angularsim_granularity: 0.025

So, my question is: Why is this happening? Shouldn't movebase use the default values if I did not set them? And why as soon as I open TrajectoryPlannerROS in reconfiguregui, the behavior of move_base changes, as if it was changing parameters values?

Regards!