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How do I implement a local planner that doesn't rotate in place?

I'm new to using the navigation stack, and I have a robot with Ackermann steering. When I simulate the robot, any 2D Nav Goal set behind it will cause the robot to freeze up, publishing angular cmd_vel values which it cannot realize. I'm looking to tweak the local planner so that I can match the capabilities of my robot. The docs say that dwa_local_planner is more modular, so I plan to use it (unless there is a reason I should use the regular base_local_planner). I know this is probably really simple, but I can't find anything in the documents that goes through this process.

Thanks in advance.

How do I implement a local planner that doesn't rotate in place?

I'm new to using the navigation stack, and I have a robot with Ackermann steering. When I simulate the robot, any 2D Nav Goal set behind it will cause the robot to freeze up, publishing angular cmd_vel values which it cannot realize. I'm looking to tweak the local planner so that I can match the capabilities of my robot. The docs say that dwa_local_planner is more modular, so I plan to use it (unless there is a reason I should use the regular base_local_planner). I know this is probably really simple, but I can't find anything in the documents that goes through this process.

Thanks in advance.

How do I implement a local planner that doesn't rotate in place?

I'm new to using the navigation stack, and I have a robot with Ackermann steering. When I simulate the robot, any 2D Nav Goal set behind it will cause the robot to freeze up, publishing angular cmd_vel values which it cannot realize. I'm looking to tweak the local planner so that I can match the capabilities of my robot. The docs say that dwa_local_planner is more modular, so I plan to use it (unless there is a reason I should use the regular base_local_planner). I know this is probably really simple, but I can't find anything in the documents that goes through this process.

Thanks in advance.

How do I implement a local planner that doesn't rotate in place?

I'm new to using the navigation stack, and I have a robot with Ackermann steering. When I simulate the robot, any 2D Nav Goal set behind it will cause the robot to freeze up, publishing angular cmd_vel values which it cannot realize. I'm looking to tweak the local planner so that I can match the capabilities of my robot. The docs say that dwa_local_planner is more modular, so I plan to use it (unless there is a reason I should use the regular base_local_planner). I know this is probably really simple, but I can't find anything in the documents that goes through this process.

Thanks in advance.