{"action":"created","issue":{"url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/89","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/89/labels{/name}","comments_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/89/comments","events_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/89/events","html_url":"https://github.com/rst-tu-dortmund/teb_local_planner/issues/89","id":348526567,"node_id":"MDU6SXNzdWUzNDg1MjY1Njc=","number":89,"title":"Oblique trajectory instead of a straight trajectory on a holonomic robot","user":{"login":"MNLucas","id":9924327,"node_id":"MDQ6VXNlcjk5MjQzMjc=","avatar_url":"https://avatars2.githubusercontent.com/u/9924327?v=4","gravatar_id":"","url":"https://api.github.com/users/MNLucas","html_url":"https://github.com/MNLucas","followers_url":"https://api.github.com/users/MNLucas/followers","following_url":"https://api.github.com/users/MNLucas/following{/other_user}","gists_url":"https://api.github.com/users/MNLucas/gists{/gist_id}","starred_url":"https://api.github.com/users/MNLucas/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MNLucas/subscriptions","organizations_url":"https://api.github.com/users/MNLucas/orgs","repos_url":"https://api.github.com/users/MNLucas/repos","events_url":"https://api.github.com/users/MNLucas/events{/privacy}","received_events_url":"https://api.github.com/users/MNLucas/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2018-08-07T23:53:32Z","updated_at":"2018-08-09T23:45:24Z","closed_at":null,"author_association":"NONE","body":"Hi all,\r\n\r\nContext and Issue\r\n---\r\nWe are working with _teb_local_planner_ on a holonomic robot.\r\n\r\nWe have an issue with the planning of **forward trajectories** because the planner always gets an **oblique trajectory** (i.e. the robot rotates 45º, then it moves obliquely, and at the end, it straightens up again according to the final orientation). This [video](https://youtu.be/9UMpLxGyv4Q) shows the robot behavior and it can help you to understand better the situation.\r\n\r\nThis behavior makes sense since the vel/acc limitations are set for `x` and `y` axis (and `theta` also), so the optimizer is obtaining that the robot can move forward obliquely faster than moving straight ahead.\r\n\r\nQuestion\r\n---\r\nHow can we get trajectories no-oblique when the target is straight ahead?\r\n\r\n---\r\n\r\nThanks in advance!"},"comment":{"url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/comments/411932219","html_url":"https://github.com/rst-tu-dortmund/teb_local_planner/issues/89#issuecomment-411932219","issue_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/89","id":411932219,"node_id":"MDEyOklzc3VlQ29tbWVudDQxMTkzMjIxOQ==","user":{"login":"MNLucas","id":9924327,"node_id":"MDQ6VXNlcjk5MjQzMjc=","avatar_url":"https://avatars2.githubusercontent.com/u/9924327?v=4","gravatar_id":"","url":"https://api.github.com/users/MNLucas","html_url":"https://github.com/MNLucas","followers_url":"https://api.github.com/users/MNLucas/followers","following_url":"https://api.github.com/users/MNLucas/following{/other_user}","gists_url":"https://api.github.com/users/MNLucas/gists{/gist_id}","starred_url":"https://api.github.com/users/MNLucas/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MNLucas/subscriptions","organizations_url":"https://api.github.com/users/MNLucas/orgs","repos_url":"https://api.github.com/users/MNLucas/repos","events_url":"https://api.github.com/users/MNLucas/events{/privacy}","received_events_url":"https://api.github.com/users/MNLucas/received_events","type":"User","site_admin":false},"created_at":"2018-08-09T23:45:24Z","updated_at":"2018-08-09T23:45:24Z","author_association":"NONE","body":"Awesome, @croesmann!\r\n\r\nThank you so much!\r\n\r\nWe're going to work on this over the next week. We'll let you know the result of these tests asap."}}
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