{"action":"created","issue":{"url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/78","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/78/labels{/name}","comments_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/78/comments","events_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/78/events","html_url":"https://github.com/rst-tu-dortmund/teb_local_planner/issues/78","id":334141523,"node_id":"MDU6SXNzdWUzMzQxNDE1MjM=","number":78,"title":"Parameters for making a car-like vehicle only plan movement backwards","user":{"login":"lucascoelhof","id":6393076,"node_id":"MDQ6VXNlcjYzOTMwNzY=","avatar_url":"https://avatars3.githubusercontent.com/u/6393076?v=4","gravatar_id":"","url":"https://api.github.com/users/lucascoelhof","html_url":"https://github.com/lucascoelhof","followers_url":"https://api.github.com/users/lucascoelhof/followers","following_url":"https://api.github.com/users/lucascoelhof/following{/other_user}","gists_url":"https://api.github.com/users/lucascoelhof/gists{/gist_id}","starred_url":"https://api.github.com/users/lucascoelhof/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lucascoelhof/subscriptions","organizations_url":"https://api.github.com/users/lucascoelhof/orgs","repos_url":"https://api.github.com/users/lucascoelhof/repos","events_url":"https://api.github.com/users/lucascoelhof/events{/privacy}","received_events_url":"https://api.github.com/users/lucascoelhof/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-06-20T15:51:20Z","updated_at":"2018-06-20T17:46:38Z","closed_at":null,"author_association":"NONE","body":"Hello folks,\r\n\r\nFirst of all, thanks for making this great package available! So far it's been really useful for me.\r\n\r\nI'm running this package in a autonomous vehicle simulator, on ROS Indigo. In a specific use-case I have, I want the car-like robot to plan a reverse maneuver to a parking spot. The distance from the vehicle and the parking spot can be even a few hundred meters, but nevertheless, in this use-case it should only move backwards, even if it would be easier to go forward. Are there a combination of parameters that would allow this? I've been tweaking with parameters \"weight_kinematics_forward_drive\", \"max_vel_x_backwards\" and \"wheelbase\", but I was unable to make the robot only drive backwards. "},"comment":{"url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/comments/398837940","html_url":"https://github.com/rst-tu-dortmund/teb_local_planner/issues/78#issuecomment-398837940","issue_url":"https://api.github.com/repos/rst-tu-dortmund/teb_local_planner/issues/78","id":398837940,"node_id":"MDEyOklzc3VlQ29tbWVudDM5ODgzNzk0MA==","user":{"login":"croesmann","id":4332529,"node_id":"MDQ6VXNlcjQzMzI1Mjk=","avatar_url":"https://avatars3.githubusercontent.com/u/4332529?v=4","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":"2018-06-20T17:46:38Z","updated_at":"2018-06-20T17:46:38Z","author_association":"CONTRIBUTOR","body":"Hi Lucas,\r\n\r\nthanks a lot for your feedback.\r\nI think the question could be interesting for more users, so I have added a new section to the [FAQ (Following global plan backwards)](http://wiki.ros.org/teb_local_planner/Tutorials/Frequently%20Asked%20Questions#Following_global_plan_backwards) in the tutorial section.\r\nSo in summary, it is a matter of the global planner to my mind. \r\n\r\nHowever, I would be happy to discuss, if it would make sense to add further strategies to the local planner (assuming `global_plan_overwrite_orientation=true`), which apply to a wider range of practical applications. \r\n\r\nCheers,\r\nChristoph"}}
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