[feature] Divergence detection #259
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This looks nice, thanks for this PR. |
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Why
This is an edge case in my application, but if an obstacle suddenly appears in front of the robot, TEB's solution might diverge quite noticeably. As an example, I obtained the image below by suddenly dropping an obstacle in front of the robot in simulation.
Summary
After some investigation, I've observed that (given my configuration) the value of
chi2in the optimizer statistics remains around 1 when the robot is navigating. Still, it increases drastically if the trajectory diverges, reaching values above 1000. This seemed to me to be the best parameter to monitor to detect divergence, but I might be missing the context of other applications (my robot is a differential drive one, which runs at most at 0.75 m/s).Related Issues
Might help with #61 #257 #7 #200