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rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions
BSD 3-Clause "New" or "Revised" License
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robot tries to go towards unreachable goal #67

Closed rayvburn closed 1 year ago

rayvburn commented 2 years ago

Costmap grid visualization becomes colored in magenta, but robot does not stop and does not reject the goal.

image

Note: fixing this will produce bigger problems related to #57

Somehow related to #58

rayvburn commented 1 year ago

Issue still persists. Robot, after reaching the closest achievable pose, starts bouncing back and forth.

rayvburn commented 1 year ago

This happens only with navfn global planner, which creates a path to the last achievable pose. In turn, the global_planner approach immediately fails to create collision paths.

rayvburn commented 1 year ago

The problems seems to be gone: image

The robot reaches a pose that is the closest to the desired (unreachable goal).