teb_local_planner process died

when i use teb_local_planner, this has some error sometimes. this prints is [teb_local_planner]: EdgeVelocity::computeError() _error[0]=nan _error[1]=nan. my config is wrong?

Hi @apeng-yp
I had similar error and found that it usually occur with planner creating in-place rotation.
This is because deltaT estimate is zero on following line.

teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h

Line 106 in 0e83907

double vel = dist / deltaT->estimate();

Can you let me know which planner you are using?

Hi @automech-rb
Thank you for your attention, i use the nav2_navfn_planner/NavfnPlanner and nav2_straightline_planner/StraightLine, all have the same problem。

Hi @automech-rb
What kind of planner were you using？ Have you solved or circumvented the problem？