I try to run the firefly simulation with local and global planning with rrt. But I found that the RRT planner is not able to plan for goal that is not scaned. For example, I'm using the goal position 5.5, 0, 1 with yaw=0. And the start position is set at odometry and it is 0,0,1 with yaw=0. When I start the planner service, it shows that the goal position is occupied. After some debugging time, I figure out that the getMapDistance function is always returning 0. And this value is generated by voxblox. Do you guys have any ideas on how can I make the planner be able to handle the area that is not scaned? Is it possible to combine the local planner and the rrt planner in this case?
Hi,
I try to run the firefly simulation with local and global planning with rrt. But I found that the RRT planner is not able to plan for goal that is not scaned. For example, I'm using the goal position 5.5, 0, 1 with yaw=0. And the start position is set at odometry and it is 0,0,1 with yaw=0. When I start the planner service, it shows that the goal position is occupied. After some debugging time, I figure out that the getMapDistance function is always returning 0. And this value is generated by voxblox. Do you guys have any ideas on how can I make the planner be able to handle the area that is not scaned? Is it possible to combine the local planner and the rrt planner in this case?
Thanks a lot.