Revision history [back]

I'm not sure what changes you've made to your configuration after looking at Eric's, but the files you posted have a very small number of theta samples for simulating. Have you tried bumping up vtheta_samples to something like 20 from 5? Also, with your path_distance_bias set so low, the robot won't have much incentive to stay on the planned path, it'll just try to drive towards its local goal. This may be what you want, but its something to be aware of.