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utexas-bwi / eband_local_planner

ROS Local planner based on the eband approach. Based on the original implementation by Christian Connette and Bhaskara Marathi. This local planner has been adapted primarily for differential drive robots, but still supports the original holonomic drive controls.
http://wiki.ros.org/eband_local_planner
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Ebandplanner fails when the global plan crosses an obstacle only present in the local one #5

Open corot opened 11 years ago

corot commented 11 years ago

This is a restriction of the approach, as it essentially combines global and local planning. A possible solution would be to only use 1 costmap instead of 2.

piyushk commented 9 years ago

I still haven't found a correct solution for this bug, but will attempt the following fix.

If the local plan receives a plan that it cannot convert to a band on first go, try clearing the costmaps first once. Clearing the costmaps typically resynchronizes the local and global costmap around the robot. I believe this should be as simple as calling costmapros->resetLayers() and trying to convert the global plan to an elastic band in the local window again.

piyushk commented 9 years ago

The above solution seems to be working, but will likely require a lot more testing.

jcmayoral commented 8 years ago

hi. I am new about the topic and I am reading the documentation of ebandplanner but I cannot find the limitations or the considerations of the algorithms. I know that it combines the global and local planner but is there other limitation?

ompugao commented 8 years ago

i encountered this problem. how do you always debug these kind of problems? how can i attach gdb and inspect what's going on exactly when it happens?