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When planning a trajectory, why is there never an initial in-place rotation?

asked 2016-05-05 16:56:29 -0500

mitch gravatar image

Maybe this is a result of my configuration choices, but why does the planner never do an initial in-place rotation? It is happy to do an in-place rotation at the end of a move.

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answered 2016-10-04 09:47:40 -0500

howardcochran gravatar image

Hello. I discovered that it will do an initial in-place rotation toward the planned path if you set this base_local_planner parameter: heading_scoring: true

You may also want to set heading_scoring_timestep, perhaps to match the value that you set sim_time to. Its default of 0.1 seconds did not work well for us.

Before discovering this parameter, we had implemented a custom node to sit between the output of the nav stack and /cmd_vel which would force an initial in-place rotation, but now we no longer need that.

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answered 2020-05-07 08:33:53 -0500

felipeduque gravatar image

If you're using base_local_planner, increasing occdist_scale parameter also helps in favoring in-place rotation before motion starts.

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Asked: 2016-05-05 16:56:29 -0500

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Last updated: May 07 '20