{"action":"created","issue":{"url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/28","repository_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner","labels_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/28/labels{/name}","comments_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/28/comments","events_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/28/events","html_url":"https://github.com/rst-tu-dortmund/teb_local_planner/issues/28","id":182578353,"number":28,"title":"Problem moving differential drive robot through narrow corridors.","user":{"login":"jmudit19","id":22796660,"avatar_url":"https://avatars.githubusercontent.com/u/22796660?v=3","gravatar_id":"","url":"https://api.github.com/users/jmudit19","html_url":"https://github.com/jmudit19","followers_url":"https://api.github.com/users/jmudit19/followers","following_url":"https://api.github.com/users/jmudit19/following{/other_user}","gists_url":"https://api.github.com/users/jmudit19/gists{/gist_id}","starred_url":"https://api.github.com/users/jmudit19/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jmudit19/subscriptions","organizations_url":"https://api.github.com/users/jmudit19/orgs","repos_url":"https://api.github.com/users/jmudit19/repos","events_url":"https://api.github.com/users/jmudit19/events{/privacy}","received_events_url":"https://api.github.com/users/jmudit19/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-10-12T16:56:54Z","updated_at":"2016-10-12T17:36:43Z","closed_at":null,"body":"Hello sir,\r\nI am trying to use teb_local_planner for passing though narrow paths efficiently. The planner works fine for broad pathways but when I am trying to pass a Robot: \r\n  type : \"line\"\r\n   line_start: [-0.42, -0.21] \r\n   line_end: [0.42, -0.21]\r\nthrough a door with width ~0.7m. The robot gets stuck to this:\r\n![screenshot from 2016-10-12 21-37-57](https://cloud.githubusercontent.com/assets/22796660/19319203/704c2374-90c9-11e6-9755-0447fe4cad2a.png)\r\nI am currently using ros-kinetic on ubuntu 15.10.\r\nThe following are the configurations used : \r\n\r\n![teb1](https://cloud.githubusercontent.com/assets/22796660/19319259/c2f78df2-90c9-11e6-9a70-9713eca8008c.png)\r\n![teb2](https://cloud.githubusercontent.com/assets/22796660/19319262/c9a4250c-90c9-11e6-9137-da4d239abe42.png)\r\n\r\nAnd sometimes at this (I cannot increase the inflation radius further because it does not allow the robot to move through narrow pathways ) :\r\n![screenshot from 2016-10-12 21-35-58](https://cloud.githubusercontent.com/assets/22796660/19319365/35eecd98-90ca-11e6-8125-673a56af6c9e.png)\r\nThese are the configurations for global and local planner:\r\n![global](https://cloud.githubusercontent.com/assets/22796660/19319429/75a33294-90ca-11e6-98e1-875869e78088.png)\r\n![local](https://cloud.githubusercontent.com/assets/22796660/19319452/8a3b3580-90ca-11e6-897e-4934ef694c53.png)\r\n\r\nI have also tried the same with SBPL lattice planner. Please help!\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/comments/253283170","html_url":"https://github.com/rst-tu-dortmund/teb_local_planner/issues/28#issuecomment-253283170","issue_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/28","id":253283170,"user":{"login":"croesmann","id":4332529,"avatar_url":"https://avatars.githubusercontent.com/u/4332529?v=3","gravatar_id":"","url":"https://api.github.com/users/croesmann","html_url":"https://github.com/croesmann","followers_url":"https://api.github.com/users/croesmann/followers","following_url":"https://api.github.com/users/croesmann/following{/other_user}","gists_url":"https://api.github.com/users/croesmann/gists{/gist_id}","starred_url":"https://api.github.com/users/croesmann/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/croesmann/subscriptions","organizations_url":"https://api.github.com/users/croesmann/orgs","repos_url":"https://api.github.com/users/croesmann/repos","events_url":"https://api.github.com/users/croesmann/events{/privacy}","received_events_url":"https://api.github.com/users/croesmann/received_events","type":"User","site_admin":false},"created_at":"2016-10-12T17:36:43Z","updated_at":"2016-10-12T17:36:43Z","body":"The error message \"trajectory is not feasible\" indicates that it seems like the robot-costmap-footprint (blue rectangular, defined in the costmap param file) collides with some of the lethal-obstacles cellls slightly at some point on the trajectory.\r\n\r\nI am going to revise the planner completely in the next three weeks since I hadn't much resources during the last weeks to investigate the recently reported issues. I'll check this one as well."}}
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