A global planner plugin for ROS navigation stack, in which A* search on a discrete gneralized Voronoi diagram (GVD) is implemented.
BSD 3-Clause "New" or "Revised" License
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fixed CONTXY2DISC when x is an expression #3
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kintzhao closed 1 year ago
goal_x = CONTXY2DISC(goal.pose.position.x - origin_x, resolution); may has an error .
https://github.com/nkuwenjian/voronoi_planner/blob/melodic-devel/src/voronoi_planner_ros.cpp#L143-L146