Dynamic Planner Empty Path

[bektaskemal]

I would like to do dynamic planning which uses online generated map. I am generating map using gmapping and set manual false. But I get empty path as result. Any idea on what is wrong? Could you please an example(launch file etc.) for dynamic case?

Edit: I made it work. But it doesn't work when map origin is not (0,0).

[moritzkuhl]

How did you get your dynamic occupancy grid map to have the location (0,0)? currently the position of my dynamic occupancy grid map seems to be -2.5, -1,0.

What i have done so far to make this algorithm work for dynamic occupancy grid maps:

• put the manual bool to false /// A flag for the mode (true = manual; false = dynamic). Manual for static map or dynamic for dynamic map.
• changed the subsribed topic in planner to the topic where my occupancy grid map gets published

The node seems to crash after the roslaunch.

Any tips???