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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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Start not included in SmacPlanner path #3085

Closed mangoschorle closed 2 years ago

mangoschorle commented 2 years ago

The path returned by smac planner doesn't explicitly include the start.

bool NodeHybrid::backtracePath(CoordinateVector & path will not add the start node (who's parrent I would assume is a nullptr). Whats the reasoning not to include the start. Is this on purpose or should there be a do while loop.

https://github.com/ros-planning/navigation2/blob/97068787fb35894a098f9c4600b5a06c7dddf43b/nav2_smac_planner/src/node_hybrid.cpp#L700

SteveMacenski commented 2 years ago

That was likely an oversight. Feel free to submit a PR and I'd be happy to merge it. Its likely that all 3 planners have this issue, so fixing them across the board would be appreciated (esp. given the trivial nature of the fix).