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2016-12-16 13:27:39 -0500 commented answer Differential drive favor backwards movement teb_local_planner

Sounds like our options are to: (1) explore global planners that do not have a bias towards forward motion, or (2) play around with changing the intermediate goals to depend on the robot's current orientation.

2016-12-16 13:27:13 -0500 commented answer Differential drive favor backwards movement teb_local_planner

Great, that was really helpful! Tried picking a global goal within the local costmap window and behind the robot, and verifying that it drives backwards.

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2016-12-15 19:19:47 -0500 asked a question Differential drive favor backwards movement teb_local_planner

We have a differential drive robot, and we are using the teb_local_planner with the navigation stack. Overall, it works great, but we'd like to tune the planner so that it puts equal weight on being able to drive backward and forward. For example, one scenario that we see is the robot backing out in a straight line -- ideally, we would like to have the robot only drive backwards, without any change in driving angle. However, we are seeing the robot back up initially, turn around so that it drives forward, then once it reaches its destination, turn around again, effectively giving us a 360 degree rotation.

The parameters that we have found relevant and have set: weight_kinematics_forward_drive: 0 allow_init_with_backwards_motion: true We have also changed weight_kinematics_turning_radius but have not found a good set of parameters for our desired motion.

Is this possible with the teb_local_planner?

Update:

For anybody interested, I set the global planner's orientation_mode to 2 (interpolate), and global_plan_overwrite_orientation to false, and I'm happy with my results.