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ros-planning / navigation_experimental

Experimental navigation techniques for ROS robots.
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Path planed through the obstacles #55

Closed TrayfourYu closed 3 years ago

TrayfourYu commented 3 years ago

Hi, I'm using the sbpl planner on a differ robot. And sometimes I found that the planner produce a path that cross the obstacles when I using a empty global static map, but other times it works fine in which the path could just bypass the obstacles. So, I just wonder if the sbpl planner only takes the global costmap into account without any local information when it plans a path.

mintar commented 3 years ago

All global planners (including) SBPL only take the global_costmap into account. But usually you configure your global_costmap like this (so there's a layer for the static map, a layer for the dynamic obstacles and an inflation layer). That way, the dynamic obstacles are also considered by SBPL.

Also make sure that you configure your inflation_radius correctly, see https://github.com/ros-planning/navigation_experimental/issues/33#issuecomment-453182448 and https://github.com/ros-planning/navigation_experimental/issues/33#issuecomment-454744475.

mintar commented 3 years ago

I'm closing this issue due to lack of activity. If you have anything to add, feel free to reopen!