While doing inspection runs, it became clear that even our wide doorway was causing the planner to pause and look for alternative routes. I decreased the inflation radius enough that it would eventual decide to go through, but it would still frequently require a recovery behavior to fire first. This is may also be a problem for approaching tables for manipulation, though I haven't tested this yet.
Let's start by looking through the config files and adjusting the parameters to the cost maps and planners
If this doesn't work well enough, let's swap the planner for one of the other planners available in the ROS navigation stack
We may also consider e-band, which BWI adopted with some success for going through doors. There are at least a few implementations available: teb, and bwi's.
While doing inspection runs, it became clear that even our wide doorway was causing the planner to pause and look for alternative routes. I decreased the inflation radius enough that it would eventual decide to go through, but it would still frequently require a recovery behavior to fire first. This is may also be a problem for approaching tables for manipulation, though I haven't tested this yet.