the value of planning_horizon and rog map size

[fractal1z]

planning_horizon: 7.0
planning_horizon: This parameter controls the planned length of the trajectory, when I reduce map_size: [50,50,6] to map_size: [10,10,6] (x, y, less than twice planning_horizon) the trajectory will be unplanned or severely deformed and twisted

[KLMN2001]

I also experienced this problem, I tried to test it on a real machine, when the speed was low (e.g. v_x = 1.0) , my planning_horizon and receding_dis were set to low accordingly, by subscribing to“/planning/pos_cmd” to get the trajectory, some parts of the trajectory will overlap and the overall look is not very smooth, looking forward to your response!

[RENyunfan]

Dear all,

It seems we have a significant issue to address. I am currently occupied with some impending deadlines, but I will do my best to find time this week to reproduce the problem and work on a solution.

Thank you.