Closed osama-z-salah closed 1 month ago
Interesting. The downward motion is definitely due to the analytic expansion but the upward motion is from search accounting for cost. I'm not sure off hand why it would be that one direction would use one but not the other. Is this always deterministic or 'sometimes' or 'most of the time'?
I'd be curious if you inverted the situation (do this again, but rotate the robot 180 degrees so that forward is now reversing) what happens. That would be useful data for me to understand where the problem potentially lies. One of the 2 spots is in higher cost than the other to start, so I'm curious if that is related.
analytic_expansion_max_length: 1.5
? That's pretty short so it could be that you're just right off that limitation for analytic expansion to be used in the other direction (though seems awfully deterministic). I'd also be interested if you logged in the analytic expansions to see why it wasn't taking that expansion (assuming analytic_expansion_max_length
doesn't work). I wonder if there's another setting or some legit reason why that was not valid to take, so finding the condition where the analytic expansion update on initial planning is rejected would be important root cause to understand.
Maybe even ignore isNodeValid
to force its use to visualize the unused expansion - just make sure the robot doesn't actually move or your safety system won't allow it to collide. This would just be good for a visual
This definitely looks like something we should be able to resolve though! It probably won't be too difficult for me once I understand the "why"
can you tell me how to launch this on ros2, i am new
Bug report
Required Info:
Steps to reproduce issue
Expected behavior
The path generated by nav2_smac_planner/SmacPlannerHybrid should be a straight line between the two points all the time, as they are in open spaces with 0-cost areas in the middle.
Actual behavior
The path generated is often not a straight line and only sometimes follows a straight line, resulting in wobbly motions.
https://github.com/user-attachments/assets/785beb10-9842-4314-8281-1c2f3528d521