Planner : start position occupied error in traversable region.

[nitin5]

Greetings,
I am experiment ing with the package using the simulation environment. I am following the instructions as provided with the package.
In some of the experiments, the planner returns the error that start position is occupied. This may be more of voxblox issue but resultant map do show that robot is in traversable region . I am attaching images for reference. Voxblox correctly identifies the walls on simulation environment.

How this error could be resolved?

There is a visible cavity in the view as well. If it is culprit, how it can be avoided as sensor must have seen this region?
Also, how can local planner be influenced to add intermediate waypoints in plan?

[LanWu076]

I had the same issue. Solved this problem by changing the position of the start position on the planning panel manually.

[nvhungv2k]

View solution at here