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ros-planning / navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
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TrajectoryPlanner do not consider obstacles while generating escape velocities. #516

Open AravindaDP opened 8 years ago

AravindaDP commented 8 years ago

It appears that when TrajectoryPlanner generates escape trajectories, It do not consider the costmap obstacles.

https://github.com/ros-planning/navigation/blob/indigo-devel/base_local_planner/src/trajectory_planner.cpp#L910

Is this by design? I think this behavior need to be at least made configurable so that users could choose to whether or not to consider costmap obstacles when escaping.

AravindaDP commented 8 years ago

This is also discussed at http://answers.ros.org/question/217043/escape-velocity-robot-behavior-move_base/

AravindaDP commented 7 years ago

@DLu , @mikeferguson Thought you might be able to shed some light on this?

mikeferguson commented 7 years ago

I think the notion was: most robots had a single forward-facing laser and didn't have sensors behind them, and so they probably have an inaccurate understanding of the world back there so checking the costmap was already fairly useless.

That's probably no longer the case in many cases, and so adding (optional) costmap checking sounds like a great enhancement. Pull requests welcomed.

Cavalletta98 commented 1 year ago

Has been solved?

mikeferguson commented 1 year ago

AFAIK, nobody has worked on this (it certainly hasn't been proposed as a PR to this repo even if they have)

Cavalletta98 commented 1 year ago

Can you please provide me an alternative planner that could not suffer of this problem?