teb_local_planner stuttering

asked 2017-06-23 00:02:32 -0600

femtogram gravatar image


The local planner stutters pretty frequently for me, with this error message:

"[ERROR] [1498193717.438261676]: Best Hypothesis switched to model 1"

Sometimes it switches to model 0 and other times to model 1. Whenever this happens, the robot stutters as it stops for a moment. I haven't been able to find any reference to this. Anyone have any idea what it could be?


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is it really the teb_local_planner? The error message is not part of the planner source code to my mind.

croesmann gravatar image croesmann  ( 2018-06-27 02:16:12 -0600 )edit