Try disabling smoother for amcl_demo [indigo]

[stonier]

This theoretically will interfere with the ability of the robot to follow paths and a well followed path should be pretty smooth. Try disabling it.

Still useful for make a map though.

[stonier]

Ah, now I remember why we did this. The move base commands are fairly discrete. We use the smoother to basically interpolate.

The key criteria though is that the smoother and dwa local planner velocity and accelerations limits should be compatible.

[stonier]

Actually, I wonder if the path planning modules can be parameterised to update alot faster and more smoothly to remove the need for smooth interpolation outside. I haven't investigated these navigation parameters in detail yet.