Not sure if this is a bug, so removing the bug report tag.
DESCRIPTION
Unlike the navfn planner smac planner only reacts to the costs that are >= INSCRIBED cost value. A visual representation of this is shown in the GIFs attached. The GIF shows an infinite loop of replanning, where obstacles are registered from the Social navigation Layer. So the costs are laid out in a velocity-skewed gaussian-fashion around the moving obstacles. A lobe at the center is forcefully turned to be equal to INSCRIBED cost for ease of visualization ( although in reality they change smoothly starting from the center).
Expected behavior
The planner stays away from the high cost areas as much as possible atleast until MAX_NON_OBSTACLE cost threshold.
The planner should at any cost stay away from INSCRIBED and OCCUPIED cells
Actual Behavior
The planner stays away from INSCRIBED and OCCUPIED cells but doesn't react at all to any other cost values unlike the NavFn planner
Not sure if this is a bug, so removing the bug report tag.
DESCRIPTION
Unlike the navfn planner smac planner only reacts to the costs that are >= INSCRIBED cost value. A visual representation of this is shown in the GIFs attached. The GIF shows an infinite loop of replanning, where obstacles are registered from the Social navigation Layer. So the costs are laid out in a velocity-skewed gaussian-fashion around the moving obstacles. A lobe at the center is forcefully turned to be equal to INSCRIBED cost for ease of visualization ( although in reality they change smoothly starting from the center).
Expected behavior
Actual Behavior
The planner stays away from INSCRIBED and OCCUPIED cells but doesn't react at all to any other cost values unlike the NavFn planner
Additional information
Navfn_planner GIF
Smac_planner GIF