I made an arduino car with a rplidar, unlike an diff car ,it's a ackman car,so i choose the teblocalplanner as the localplanner,here is the video: https://www.youtube.com/watch?v=86SFKJsWQ4&feature=youtu.be there are some questions: 1. why the costmap shake when the car turns 2. sometimes teb make wrong local plan 3. now i use only half of the max speed, when the speed up ,it may collision