# teb_local_planner taking cornering in real life

Hi all

Im trying to get my car like robot to take a corner in real life. Im using the teb_local_planner. However it fails to take the corner in real life..

It seems to follow the plan on the way forward but it seems to go wrong when it reverses.. It then seem to go forward and back in a way which doesnt help taking the corner I have uploaded a video of r-viz here. I am running the google cartographer in localization mode. I do get a couple of warnings

```
[ WARN] [1607072269.122634379]: TebLocalPlannerROS: possible oscillation (of the robot or its local plan) detected. Activating recovery strategy (prefer current turning direction during optimization).
```

But im not sure if that relevant.. any help would be appreciated

My configuration is as follows

```
TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
max_samples: 500
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: True
max_global_plan_lookahead_dist: 3.0
global_plan_viapoint_sep: -1
global_plan_prune_distance: 1
exact_arc_length: False
feasibility_check_no_poses: 2
publish_feedback: False
# Robot
max_vel_x: 0.17
max_vel_x_backwards: 0.19
max_vel_y: 0.0
max_vel_theta: 0.6 # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega)
acc_lim_x: 0.5
acc_lim_theta: 1.0
# ********************** Carlike robot parameters ********************
min_turning_radius: 1.5 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)
wheelbase: 0.4 # Wheelbase of our robot
cmd_angle_instead_rotvel: True # stage simulator takes the angle instead of the rotvel as input (twist message)
# ********************************************************************
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "two_circles"
radius: 0.2 # for type "circular"
line_start: [0.0, 0.0] # for type "line"
line_end: [0.4, 0.0] # for type "line"
front_offset: 0.3 # for type "two_circles"
front_radius: 0.2 # for type "two_circles"
rear_offset: 0.0 # for type "two_circles"
rear_radius: 0.2 # for type "two_circles"
vertices: [ [0.25, -0.05], [0.18, -0.05], [0.18, -0.18], [-0.19, -0.18], [-0.25, 0], [-0.19, 0.18], [0.18, 0.18], [0.18, 0.05], [0.25, 0.05] ] # for type "polygon"
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.20 # This value must also include our robot's expansion, since footprint_model is set to "line".
inflation_dist: 0.6
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 15
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1 # must be > 0
weight_shortest_path: 0
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10 # not in use yet
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.95
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
# Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration: 10
oscillation_recovery: True
oscillation_v_eps: 0 ...
```