there is actually one (not zero) vy_sample when planning, fixes #89.

turtlebot · Jun 9, 2014 · c6cd55f · c6cd55f · stonier · Jun 12, 2014
1 parent 277f6e4
commit c6cd55f
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diff --git a/turtlebot_navigation/param/base_local_planner_params.yaml b/turtlebot_navigation/param/base_local_planner_params.yaml
@@ -36,4 +36,4 @@ TrajectoryPlannerROS:
   max_vel_y: 0.0
   min_vel_y: 0.0
   acc_lim_y: 0.0
-  vy_samples: 0
+  vy_samples: 1
diff --git a/turtlebot_navigation/param/dwa_local_planner_params.yaml b/turtlebot_navigation/param/dwa_local_planner_params.yaml
@@ -26,7 +26,7 @@ DWAPlannerROS:
 # Forward Simulation Parameters
   sim_time: 3.0       # 1.7
   vx_samples: 6       # 3
-  vy_samples: 0       # diff drive robot
+  vy_samples: 1       # diff drive robot, there is only one sample
   vtheta_samples: 20  # 20
 
 # Trajectory Scoring Parameters