# move_base + reconfigure_gui = strange behavior [closed]

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 reconfigure_gui (?!).

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

base_local_planner_params.yaml:


TrajectoryPlannerROS:
acc_lim_x: 2.5
acc_lim_y: 2.5
acc_lim_th: 1
max_vel_x: 1
min_vel_x: 0.2
max_vel_theta: 1
min_vel_theta: 0
min_in_place_vel_theta: 0.4
sim_time: 1.7
sim_granularity: 0.025
pdist_scale: 0.6
gdist_scale: 0.8
occdist_scale: 0.01
oscillation_reset_dist: 0.05
escape_reset_dist: 0.1
escape_reset_theta: 1.5708
vx_samples: 20
vtheta_samples: 20
holonomic_robot: false
escape_vel: -0.1
dwa: false