sbpl motion primitives

edit

Hi, I'm using the sbpl_lattice planner and I have a question about how to generate my own motion primitives. My robot cannot perform foward motion arc that have a radius below 1 meter.

So I'm trying to modify the genprim_unicycle.

%1/16 theta change basemprimendpts0_c(4,:) = [4 1 1 forwardandturncostmult];

From what I can understand this is the X,y, theta displacement.

But I'm having problems in making smooth trajectories.

Does anybody already has experience in making your own motion primitives??

I've already altered the base_local_planner so it to follows the plan very accurately.

Thanks