How to tune move_base local planners for frequent goal updates
I am experimenting with a robot which is supposed to follow a beacon outside. The waypoints are sent at 1Hz (I could go faster) and are within 3 to 10 meters of the robot. I tried using move_base with the built-in planners but had unsatisfactory results.
- DWA planner's motion was good but it made the robot pause at every goal update making for unsmooth motion
- TrajectoryPlannerRos starts oscillating on straightaways, that type of motion isn't acceptable
- TebLocalPlanner was a mix of the two, but it did a lot of spinning in place and eventually would cause the map update loop miss its target update rate
I tried to play with oscillation reset flag and other parameters but still did not achieve good results and to be honest, I'm not really sure how most of these work. I am starting to think that these planners weren't meant to be used for what I'm using them for. Is there a better planner for me to use such that I can update it frequently yet still get the benefit of obstacle following? If not, are there parameters I should be tuning that will make path updates faster and smoother? (local map size/resolution? oscillation flag? others?)
