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ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
GNU General Public License v3.0
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costmap #58

Closed zvemif closed 7 months ago

zvemif commented 7 months ago

Hello. I have been puzzled for several days. When using RRT, why can I see the costmap in Rviz simulation, but the path planning does not follow the costmap, instead, it follows the static map layer? Thank you.

ai-winter commented 7 months ago

@zvemif

Please attach pictures about your questions.

zvemif commented 7 months ago

为什么不是按照代价地图进行规划呢？ aa117f50edcdb4a0fbaae97d4139aef

ai-winter commented 7 months ago

The planned path ensures avoidance of high-cost areas; the path depicted in the figure is acceptable. Strict adherence to cost map planning may result in no feasible solutions.

zvemif commented 7 months ago

The planned path ensures avoidance of high-cost areas; the path depicted in the figure is acceptable. Strict adherence to cost map planning may result in no feasible solutions.

Thank you! Where can I set up and plan according to the cost map？