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Questions tagged [teb-local-planner]

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18 views

move_base / teb_local_planner not subscribing to odometry/local message from robot_localization ekf_localization node

Currently building a autonomous mecanum drive robot with wheel encoders, IMU, and LiDAR (with GPS to be implemented using a global EKF later). The current configuration uses a local EKF from the ...
0 votes
2 answers
90 views

Stopping and waiting for an obstacle to get out of the way

Hello all, I am currently using move_base with teb_local_planner for a swerve drive mobile robot setup. Overall, this sutup seams to be working ok and it avoids obstacles when introduced. However, I ...
0 votes
2 answers
104 views

teb_local_planner planning low velocity trajectories

Hi, I am trying to use Teb local planner for my robot. But robot is moving very slow (0.1 to 0.23 m/sec) and with jerky movements. Although robot can easily go upto 1m/sec. I have tried changing value ...
0 votes
2 answers
140 views

Integrating Alternative Local Planners (Controller) with ROS 2 Navigation2 Stack for an Ackermann Robot

I'm working on a project with ROS 2 Iron and the Navigation2 stack, focusing on an Ackermann-steered robot. I've encountered issues while trying to integrate alternative local planners, such as TEB, ...
0 votes
0 answers
18 views

Robot stop while moving

I'm using teb_local_planner for my diff drive robot. There is an issue where cmd_vel speed suddenly becomes 0 during navigation. https://youtu.be/nexkATOatVE When using navigation, a phenomenon ...
0 votes
0 answers
27 views

Teb Local Planner path strange

https://youtu.be/FdqFL7G832I I am using teb local planner and it moves like the video above. How do I solve this? here is my code. teb_local_planner_params.yaml ...
0 votes
0 answers
45 views

Motion of omnidirectional robot in 2D with constant heading, which nav stack planner to use?

I am trying to make simple navigation example in ROS noetic of an omnidirectional robot (e.g. clearparth's ridgeback). My goal is to always maintain the orientation of the robot wrt the /map frame ...
1 vote
2 answers
637 views

Why TEB controller is not available in ros2 humble?

On navigation plugin setup document , the TEB controller is mentioned, but I don't find any documentation to set up this controller in nav2 humble. And there is no humble branch in the ...
1 vote
0 answers
69 views

teb_local_planner problems

I use ROS2 Foxy and I'd like to Colcon build but it's can't the problem make my com not responding. I try to check with this command rosdep install -i --from-path src --rosdistro foxy -y then it ...
0 votes
0 answers
27 views

A racecar using amcl for navigation doesn't follow the path calculated by teb_local_planner as expected

My racecar is controlled by ROS, and I am trying to make it work using AMCL for navigation. I set a goal to it. In the begining, it was working fine as expected, but soon it crashed into an obstacle ...
0 votes
0 answers
45 views

Configure Move_Base_Flex parameters

First of all I am a completly beginner in ROS, so I would appreciate your easy explanations... I am trying to configurate Move_Base_flex. It is an eassy path to be followed, with no obstacles . It is ...
0 votes
0 answers
32 views

explore_lite targets places that cannot be moved

https://youtu.be/2WH144VZezA As shown in the video, explore_lite targets a place that cannot be moved, and teb_local_planner stops moving. I want to aim far away from walls and avoiding obstacle areas....
0 votes
1 answer
76 views

teb_local_planner question

I'm trying teb_local_planner on omni_dir robot. https://youtu.be/AKF6wPZgCa8?si=Y_17OSZsSo7nzhfV However, the robot moves like a car as shown in this video. I want to moving holonomic like this ...
0 votes
0 answers
56 views

Omni wheel move problem

https://www.youtube.com/watch?v=FmOOO3mZtK0&ab_channel=SimonB%C3%B8gh https://github.com/rst-tu-dortmund/teb_local_planner_tutorials/tree/melodic-devel/launch I tried the settings above, but my ...
1 vote
1 answer
279 views

Local Planner Not Extending Beyond Robot's Footprint Boundaries to Distort Global Planner's Path

I've been facing an issue with the local planner in my ROS2 navigation setup. The core of the problem seems to be that the local planner does not extend sufficiently outside the robot's footprint ...
0 votes
0 answers
29 views

Robot Control Algorithms for Precise Positioning

I am currently researching the optimal controller algorithm to navigate my robot to a specific x and y position within a specific coordinate frame with a high degree of accuracy, approximately 5mm. ...
1 vote
1 answer
113 views

Can TEB or Other Local Planners Work Without move_base?

I am working on path planning and path tracking for a while and I wonder, can TEB local planner (or any other local planner on ROS, DWA lets say) function without move_base? I mean do I have to use ...
1 vote
1 answer
411 views

Challenges with Local Planner in ROS2 Navigation2: Ineffectual Obstacle Avoidance and Potential Self-Detection

I'm currently facing challenges with the local planner in ROS2's Navigation stack, which is ineffectively distorting the global plan to avoid obstacles as displayed in these videos: GPS ok But Local ...
0 votes
1 answer
22 views

Teb Local Planner Weight Parameters

I am working on teb local planner but i didn't understand what weight parameters really do? Can someone briefly summarize please? Originally posted by anonymous60874 on ROS Answers with karma: 1 on ...
0 votes
1 answer
50 views

Unable to correctly use teb_local_planner for turtlebot3

I have been trying to test out the teb_local_planner in place of the DWA_local planner that the ROS navigation stack uses. I'm basicalIy trying to see if teb_local_planner is better for creating paths ...
0 votes
1 answer
87 views

Simple local planner in Python?

Hello everybody, I would like to implement my own local planner using Python for exercise purposes. Therefore, I make no use of move_base and the ROS navigation stack at all and try to implement those ...
0 votes
1 answer
83 views

prevent teb_local_planner from getting stuck while turning around obstacle (carlike)

I am running teb_local_planner in simulation for a carlike robot. Quite often I see teb_local_planner getting stuck while trying to turn around an obstacle. I guess this is because during the path ...
0 votes
1 answer
21 views

Global planner with curvature limit

Hi all, I'm looking for a global path planner (base_global_planner) with a feature of limiting the curvature (or turning radius) of the path. I found teb_local_planner which can configure the minimum ...
0 votes
1 answer
46 views

teb_local_planner keeps selecting impossible trajectories for a carlike robot

I am testing teb_local_planner for a carlike vehicle. I am trying to make the robot park backward, for which I would expect the planner to turn in 2-3 times (as a human driver would). However the ...
0 votes
1 answer
5 views

progressive costs in costmap2d

Hi, i am trying to figure out a way to navigate on a road like environment. For this i would like to give both lanes different costs so the right lane has preference but when it is blocked left lane ...
0 votes
2 answers
167 views

Difference between DWA local_planner and TEB local_planner

Hi there, I'm new in ROS nav_stack. Currently, I'm working on navigation of a mobile robot (vehicular robot) and I am searching the "best" local planner for our application. Currently, we ...
0 votes
1 answer
12 views

Curvu local trajectories with teb_local_planner

Good afternoon, I faced the problem and can't fix it related to teb_local_planner. The planner builds the global path very good, however, the local planner is very bad. It is very curved. As you can ...
0 votes
1 answer
44 views

Oscillation using TEB local planner with car-like setup

I've come across other topics mentioning similar problems, oscillation when using the TEB local planner for a car-like robot. But nothing has helped me so far, this topic yet remains unanswered, which ...
0 votes
2 answers
5 views

teb_local_planner compilation error

ROS:kinetic: error: ...
0 votes
1 answer
26 views

move_base takes longer time to update the Goal Status why?

Hello I am doing an experiments on Navigation Stack by referring the Link ( http://wiki.ros.org/navigation ) But While doing experiment I am facing one Issue. I am using Rtabmap ( Localization ) + ...
0 votes
1 answer
52 views

Dynamic obstacles and teb_local_planner

Hi all, When addressing the problem of dynamic obstacles avoidance with my mobile base, I came across this solution. The mentioned tutorial assumes some node is publishing costmap_converter/...
0 votes
1 answer
6 views

teb_local_planner test_optim_node crashing

Hi all, I was interested in analyzing the behavior of the teb_local_planner for move_base and therefore I started following the tutorials. I'm working with kinetic on 16.04. To test it, I need to run: ...
0 votes
1 answer
10 views

Entirely forbid lateral displacement on differential drive base?

I'm trying to use TEB in a diff-drive robot, but the planner sometimes produces paths with lateral displacements: I have set to weight_kinematics_nh to the maximum value (10000) and it happens less, ...
0 votes
1 answer
5 views

Getting descriptive outcomes from ExePathAction

I am trying to design some recovery behaviors for a bot following a set of waypoints, with velocities issued by TEB. I am using ExePathAction to start the navigation with TEB. I would like to know ...
0 votes
1 answer
26 views

How to get a local path from teb local planner without topic?

I would like to use teb local planner separately from the general navigation stack with my own navigation algorithms. I can initialize the teb planner, set a costmap, a global plan and compute the ...
0 votes
1 answer
93 views

How to use the DWB local planner

Dear all, I was wondering if you can help me to find out how to use the DWB_local_planner in move_base. I have already installed all the packages in the This. You can find the part of the launcher ...
0 votes
1 answer
31 views

Oscillation when using orientation field of move_base with teb_local_planner

Hi everyone! I am having an issue with the orientation fields of the move_base package and the teb_local_planner. At first I would just set the orientation.w field to 1.0 and leave the xyz components ...
0 votes
1 answer
50 views

Oscillations when using teb_local_planner for car like robot

Facing an issue with the teb_local_planner, which is also mentioned here - Oscillations around global path while using teb local planner?. I am using an Ackermann drive based (car like steering ...
0 votes
1 answer
29 views

how prevent rotation with teb_local_planner

Hi, I'm using navigation stack and using teb_local_planner for path planning. I change this parameter "max_vel_x_backwards: 0.0" so the robot will not move backwards. But I also want the ...
0 votes
1 answer
66 views

Ackermann Steering and Arduino Servo Control

Hello, I am using this package to control some servo motors for an ackermann steered vehicle. The local path planner that i am using is the teb_local_planner I am wondering, how do I combine the two ...
0 votes
1 answer
2 views

teb_local_planner development status

Hey guys, I don't know if this is the right place to ask this but I would like to know if the local planner "teb_local_planner" will be further developed? Most of the commits were in 2016 ...
0 votes
1 answer
110 views

Global planner not updating path

Hello, I am using Ubuntu 16.04, ROS-kinetic to run the navigation stack (with global_planner and teb_local_planner) on a Youbot (on Gazebo). Although I am able to send goals and get them executed ...
0 votes
1 answer
4 views

Using teb_local_planner's feedback_msg for control

Are there any potential issues with using the trajectory points from teb_local_planner's /feedback_msg topic as the primary method of control? By this, I mean that there is a separate node which ...
0 votes
1 answer
4 views

How to choose different robot footprint type for DWA_local_planner

Hi folks, I wanted to know how the DWA_local_planner computes (or chooses) the foorprint of the robot? is it a dot (or a circle based on the inflation added to the robot)? If yes, my question is that ...
0 votes
1 answer
14 views

TEB_local_planner inflation_dist vs Costmap_2D Inflation layer

Hi everyone, I can not understand the difference between the TEB_local_planner's inflation_dist parameter and the Inflation Layer...
0 votes
1 answer
3 views

Starting point of teb_local_planner

Right now i have a car which I want to control with the teb_local_planner at walking speed. And as the base_link is above the rear axle, the plan is constructed from there through the footprint and ...
0 votes
1 answer
6 views

visualize_velocity_profile.py not working in teb_local_planner?

$ rosrun teb_local_planner_tutorials visualize_velocity_profile.py Output: ...
0 votes
1 answer
6 views

How do i switch between planners at runtime

I need to be able to switch between two planners based at runtime based on some logic devised. How exactly do i do this if both are ros nodes? (Is it possible to do this even if these nodes are not ...
0 votes
1 answer
16 views

Teb Local Planner : Increasing x linear velocity

Hi, I'm currently using the teb local planner for a tricycle robot and it gives good results but I would like to i Increasing the max_vel_x parameter doesn't seem to change the speed and I am having a ...
0 votes
1 answer
11 views

How does the teb_local_planner avoid collision with obstacles?

Hi, I got a question for experts for the teb_local_planner package. I'am wondering how the teb_local_planner manages to avoid obstacles. I've read all the papers about the approach so I know that it's ...