[melodic] [global_planner] move_base crashes when requesting a path close to costmap border

ros-planning / navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

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[melodic] [global_planner] move_base crashes when requesting a path close to costmap border #979

Open doisyg opened 4 years ago

doisyg commented 4 years ago

Initially though it was MBF related, see here: https://github.com/magazino/move_base_flex/issues/178 Narrowed it down to the used of global_planner/GlobalPlanner and asking a path to a corner (or border I believe) of the global costmap with empty cells only. Instructions and repo to easily reproduce the crash here: https://github.com/wyca-robotics/mbf_test

mikeferguson commented 4 years ago

I don't really do much with the global_planner, and I know @DLu has been pretty swamped these days. Pull requests welcome, but I don't see any of the maintainers tackling this one any time soon.