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2017-03-24 12:53:18 -0500	commented answer	include goal tolerance in planning, not only when is near to goal Thanks Christoph!
2017-03-24 12:39:21 -0500	commented answer	remove backwards motion completely Thank you very much Christoph!
2017-03-16 12:28:22 -0500	asked a question	include goal tolerance in planning, not only when is near to goal Hi all!, We are working with a non-holonomic robot, and with a complex mechanics to move. We want to ignore the goal's orientation. From ours readings and tests, the goal tolerance (xy and yaw) works only when robot arrive to goal, but when it is still far, the optimization not consider this tolerance, i.e. planner ignore that the robot can arrive to goal regardless its orientation (and it plans a long path with many loops to arrive with the specific orientation), is that right? Can we include the tolerance in the path planning and not only consider it when the robot is arriving to the goal? Thanks!
2017-03-16 12:28:22 -0500	asked a question	remove backwards motion completely Hi all, We are trying integrate the TEB Local Planner ros package in our system and customize this package for the physics of our robot. Our robot has a restriction that it doesn't move backwards. Are there any way to remove backwards motion completely from planner?. We already have weight_kinematics_forward_drive on max, and still appear backwards motion some time. The robot can move forward and rotate in a radius of 0.5 m. Modifying weight, we can't get the desired behavior, so we thought modify the source code to customize the planner. Is it possible? Any suggestions about where make the modifications in the code? Thanks!