Add prevent_look_ahead_poses_near_goal to fix oscillation #332
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Never look ahead to the last few poses of the plan in order to prevent oscillating forward and backward over the goal when the xy_goal_tolerance is small. Specified by new parameter prevent_look_ahead_poses_near_goal whose default is zero.
siferati
approved these changes
Dec 2, 2021
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@corot Hi, could you explain more about this value? Let's say |
I cherry-picked from PR #180, where the problem is explained in more detail |
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Never look ahead to the last few poses of the plan in order to prevent oscillating forward and backward over the goal when the xy_goal_tolerance is small. Specified by new parameter prevent_look_ahead_poses_near_goal whose default is zero.
Cherry-picked from #180 for melodic and without the additional reconfigurable parameters, to avoid cluttering the RQT tool.
We can add one-by-one whatever parameters we find useful to, as we did with
control_look_ahead_poses.Thanks to @howardcochran for the contribution