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Teb_local_planner seems to ignore costs

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

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 gravatar image

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

Ok thank you for your answer!

mgsa gravatar image mgsa  ( 2021-02-23 03:31:01 -0500 )edit
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answered 2021-09-08 02:15:09 -0500

AlexKaravaev gravatar image

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

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

Seen: 75 times

Last updated: Sep 08