How to completely disable backward motion in TEB Local Planner?

[TrH-Thang]

Hi,

I’m using TEB Local Planner in ROS2 for a differential-drive robot. I want to completely prevent the robot from moving backward under any circumstances.

I have tried the following parameters in my TEB configuration:

max_vel_x_backwards: 0.0
allow_backward_motion: false

However, I notice that the robot still sometimes moves backward, especially when the goal is behind it or close by.

I also saw the parameter allow_init_with_backwards_motion in recent updates. I’m not entirely sure how it interacts with the other parameters.

Could you please clarify:

Which parameters need to be set to fully disable backward motion?

Any recommended configuration to ensure the robot only moves forward?

Thank you very much for your help!