demo.launch does't work

[k0suke-murakami]

Hi, thank you for sharing the amazing repo.
Here is what I found while trying to run your demo.launch

Description

A trajectory isn't generated after following the guidance in readme.md.

Code

commit: a95f0d0
Nothing has been modified including config file.

Steps to reproduce

• Following instruction in readme.md

Console output

[k0suke-murakami]

https://drive.google.com/file/d/1KZERZa2ZMHSdc9--nWu75bxspBS91BxW/view?usp=sharing

[LiJiangnanBit]

Hi, I think the program failed because the start state was not within the range of the reference points (red).
This could fail:

While this should work:

The start position is mapped onto the smoothed reference path, which starts from the first red point you choose.

I'll add this in Readme. Thanks for testing!

[k0suke-murakami]

Thank you for the quick replay.

Still, trouble to get the result.
Here output with reference red points.

ref size 10
-30.5583 7.01123 0
-26.663 2.51858 0
-22.3547 0.61618 0
-18.3866 0.332707 0
-14.0783 0.0249356 0
-9.68907 -0.744231 0
-5.40515 0.202662 0
-0.894485 1.13335 0
5.82705 -0.485839 0
9.56043 -5.65033 0

[k0suke-murakami]

Just let you know that it works when changing the smoothing method to TensionSmoother

[LiJiangnanBit]

I tried the input that you provided, but strangely, the failure didn't appear. 😅

So I can't say what's wrong with AngleDiffSmoother. But it will be abandoned soon because it's too slow to solve this non-linear program. And there's also a problem you may have observed in TensionSmoother: the result has minor trembling sometimes. It's very rare, but annoying. I'm developing a new smoothing method in another branch to replace AngleDiffSmoother and TensionSmoother.