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larics / lattice_planner

ROS implementation of a 2D path planner for nonholonomic vehicles.
MIT License
50 stars 34 forks source link

Remove map origin restriction #1

Open dmiklic opened 7 years ago

dmiklic commented 7 years ago

Currently, the planner works only if the map origin is at [0,0,0]. Remove this restriction.

RickeyLee09 commented 4 years ago

Hi there, is this problem fixed? or do you have any ideas how to fix it? I'm trying to use this algorithm as a local planner, so the map origin cannot be set at[0,0,0].

dmiklic commented 4 years ago

Hi,

unfortunately, this limitation still exists. I will contact the original developer to see if he'd be able to point you in the right direction.

dmiklic commented 4 years ago

Hi @RickeyLee09, seems that the [0,0,0] assumption is quite deeply rooted in the code. The best workaround at the moment would be to transform all poses before sending them to the planner and then to apply the inverse transform to the planner output.

RickeyLee09 commented 4 years ago

Got it! Thank you for your advise, I will look into it recently, if it works i will let you know!

Sent from my iPhone

On Nov 25, 2019, at 23:42, Damjan Miklic notifications@github.com wrote:

 Hi @RickeyLee09, seems that the [0,0,0] assumption is quite deeply rooted in the code. The best workaround at the moment would be to transform all poses before sending them to the planner and then to apply the inverse transform to the planner output.

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