Teb_local_planner seems to ignore costs

asked 2021-01-14 07:15:48 -0500

220 ●6 ●21 ●18 http://github.com/Tristan9497/

Hi,

i am using teb_local_planner to navigate my robot in a street environment. to force the robot on the right road-side i created cost values on the left side with a custom costmap layer. Unfortunately teb_local_planner seems to ignore the costs and treats it as it was free space, but base global planner treats it correctly by shifting the global path on the right lane. So i am sure the costmap layer works as expected. Is teb_local_planner only using three values (occupied, free and unknown) or does it use the full spectrum of the codtmap?

Let me know if this needs more explanation. Thanks in advance

Tristan

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answered 2021-02-22 02:42:10 -0500

mgsa
11 ●2 ●1

Hi Tristan,

I am trying to do something similar. Did you eventually find a way to make teb_local_planner to consider costs while planning?

Matthieu

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Hey, no i didn't really.

I am now using a work-around. with my custom costmap layer i can shift the global path in to the right region. Then i set global plan via point sep to 0.5 and weighted the via points accordingly. This forces teb_local_planner to keep its path closer to the global path.

It works but i might give dwa_local_planner another try.

While reading more about teb i found an answer from one of the devs here in the forum where he said that obstacles are treated as point obstacles (i guess lethal obstacle cost) and exact cost values for every cell where too computational expensive.

Tristan9497 ( 2021-02-22 09:08:08 -0500 )edit

Ok thank you for your answer!

mgsa ( 2021-02-23 03:31:01 -0500 )edit

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answered 2021-09-08 02:15:09 -0500

AlexKaravaev
11 ●3 ●5 ●5

Teb local planner only takes into account costs that has lethal cost. See https://github.com/rst-tu-dortmund/te...

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Teb_local_planner seems to ignore costs

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