Kaetera

I encountered the same error with ROS2 Foxy on Ubuntu. The run instructions provided in the Readme of the foxy/devel branch seem a bit out-of-date, the correct way to pass...

After investigation it seems that TEB uses `dwb_critics::ObstacleFootprintCritics::scorePose() ` function from the Navigation2 stack to evaluate the feasibility of the trajectory. However TEB excpect a negative score from `scorePose()` if...

Hey, Here were my parameters: ``` local_costmap: local_costmap: ros__parameters: update_frequency: 5.0 publish_frequency: 5.0 global_frame: odom robot_base_frame: base_link use_sim_time: false rolling_window: true width: 4 height: 4 resolution: 0.05 footprint: "[ [-0.2,...

I left out TEB for the moment, but I started to experiment with a different cost function (functions `computeError()` in https://github.com/rst-tu-dortmund/teb_local_planner/blob/melodic-devel/include/teb_local_planner/g2o_types/edge_obstacle.h) My guess is that we need a function that:...

Hi, I get the same behavior on my robot: the localization "drift over time" and slam_toolbox fails to re-localize it (typically we get 0.5m-1m offset after 20min of navigation in...

While investigating some TF timing issues on my system, I noticed that the process time took by [addScan()](https://github.com/SteveMacenski/slam_toolbox/blob/94cec982a7f850818187c81295d1212f145efe37/src/slam_toolbox_localization.cpp#L140) increases progressively with time (timed with two get_clock()->now() before and after): Few...

This is a long time now, but I'm also try to get the covariance of the speed estimation and saw the lines above. However the elements in the matrix have...