The robot stops suddenly at certain intervals

[Furkan Cetin]

Hello,

I test the robot on dynamic obstacles. For this test, I move the robot on a path free of obstacles. In the RVIZ environment, global_planner draws a path as follows:

[Figure-1]

And then I put a box in front of the robot. With the lidar I use, I can detect the box as an obstacle. I expect the path generated by global_planner to update quickly after I put the box. As in the picture below:

[Figure-2]

The problem I encounter is as follows:

When my "planner_frequency" value is "0" in dynamic obstacles, my robot global_planner is updated very late. This update may find a time when it is very close to the obstacle. This can sometimes cause it to hit an obstacle.My goal is to enable it to draw a faster path through dynamic obstacles (as in Figure-2). When I try to set this value (planner_frequency) to a value higher than 0 (For example, 1.0) to increase its speed, it updates quickly. But the problem is that the robot suddenly reduces its speed to "0" at certain times. When I make this value higher (For example, 4.0, 5.0), the robot does not move at all. Why does this happen this way? Can you help me?

Thank you

I use Navfn as base_global_planner and NeoLocalPlannner as base_global_planner. I also use noetic as a ROS distribution.