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move_base turns clockwise when counterclockwise would be faster

asked 2016-07-01 18:07:26 -0600

petermitrano gravatar image

In both of the scenarios depicted below, by robot turns clockwise. counterclockwise is obviously much faster. It will however turn counterclockwise if the goal is very close to in front of the robot, around 30deg maybe. Anything past that turns the other way.

I have min_rot_vel set to 0.07, since according to the DWA_local_planner wiki, it's an absolute value.

fails also fails

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answered 2016-07-20 12:16:38 -0600

petermitrano gravatar image

Apparently this is a consequence of dwa_local_planner and disallowing negative x velocities (driving backwards)?

I'm not posting this as a definitive answer, but simply what someone told me.

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Asked: 2016-07-01 18:07:26 -0600

Seen: 160 times

Last updated: Jul 20 '16