stuck at a narrow doorway

[20chase]

Hi developers,

Thanks for your contribution. I am running the carlike_minimum_time example provided by the repo, setting the 2d goal at [2.87, 7.78]. However, the robot car will be stuck at the narrow doorway as follows. Hereby, I am wondering is it the limitation of the MPC planner? Or, some hyperparameters are not be set properly (I have tried some different hypermeters at mpc_local_planner_params.yaml).

Looking forward to your reply : )

[soldierofhell]

I'd check the output of optimizer

[yexy1816]

This is a similar issue for the teb planner. To me it happened because the collision model used for local planner different from the actual robot model, maybe try check the min_obstacle_dist which should be larger than the robot's radius, and also set feasibility_check_no_pose to 0, it solved the issue for me.