The particular problem in the video as been resolved (see #3 and https://www.youtube.com/watch?v=yQJFoCzNoAk).

Without more details on your problem, I cannot assist you with a possible solution.

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OK, I have changed the costmap_obstacles_behind_robot_dist parameters and it works. But there is another problem on my turtlebot: When I set a goal to my turtlebot, it runs not very continuously, often stop frequently and send a low velocity and rotation to the robot. What will cause this problem?(PS: When I change the local planner to DWAlocalPlanner, robot runs continuously. So I guess it probably some parameter in the teb_local_planner I should adjust, but what parameters may cause this problem?).

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https://www.youtube.com/watch?v=dj2eJVEcIXk
https://www.youtube.com/watch?v=crh1TnTc6tM
This is the video that has this problem.

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And my teb_local_planner yaml file:
TebLocalPlannerROS:

odom_topic: odom

Trajectory

teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
global_plan_overwrite_orientation: True
max_global_plan_lookahead_dist: 3.0
feasibility_check_no_poses: 5

Robot

max_vel_x: 0.4
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 0.3
acc_lim_x: 0.5
acc_lim_theta: 0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)

footprint_model:
type: "circular"
radius: 0.2

GoalTolerance

xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False

Obstacles

min_obstacle_dist: 0.25 # This value must also include our robot radius, since footprint_model is set to "point".
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 30
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5

Optimization

no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1
weight_obstacle: 50
weight_dynamic_obstacle: 10 # not in use yet

Homotopy Class Planner

enable_homotopy_class_planning: True
enable_multithreading: True
simple_exploration: False
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: False
viapoints_all_candidates: false

roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_keypoint_offset: 0.1
obstacle_heading_threshold: 0.45
visualize_hc_graph: False

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@jiangxinyu
I am also facing similar problem. Robot gets stuck at tight places and after that planner only generates very small velocity commands. The behaviour is very similar to the videos shown in youtube links.
Also planner plan non-intuitive paths. For example

Have you made any progress?

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@jiangxinyu , I also faced the same problem and it resolved by disabling the optimization. Disabling the homotopy class may help you.
enable_homotopy_class_planning: false

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@dharmp15 It works, thank you very much!

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