# teb_local_planner jerky movements, while fasing an obstacle

Greetings

I'm doing a navigation project and got into obstacles (people) confronting,
so trying to make the robot can stop and replan.

As I understood, teb_local_planner got its own recovery, while I'm trying to combine it with
the SMACH script + move_base_flex navigation.

But while robot faces an obstacle on it's way, it makes some jerky movements during oscillation_timeout duration.
Are there any ways to minimize or remove jerking completely in a low-speed movement?
Or am I missing something?

EDIT:
Ok, I was missing quite a lot

It's likely related to teb_local_planner #132, where teb local planner needs to return BLOCKED_PATH,
but there's no such an output.

EDIT 2: