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rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
http://wiki.ros.org/teb_local_planner
BSD 3-Clause "New" or "Revised" License
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how to prohibit teb local planning through unknown area? #298

Open TrayfourYu opened 3 years ago

TrayfourYu commented 3 years ago

I'm using move_base package in a differ robot with a static global map, which is got from the gmapping. So, there are some unknown area in the map, and I found that teb planner can't find a path through those area. image

vimalrajayyappan commented 3 years ago

I think you can use

track_unknown_space: False in local_costmap which allows you to plan path in unknown area