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Inflation layer doesn't respect possibly inscribed definition #2315

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SteveMacenski opened this issue Apr 17, 2021 · 2 comments
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Inflation layer doesn't respect possibly inscribed definition #2315

SteveMacenski opened this issue Apr 17, 2021 · 2 comments

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@SteveMacenski
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http://wiki.ros.org/costmap_2d/hydro/inflation

The inflation layer doesn't even get the circumscribed_radius_ to use it to set any costs nearer than this to an obstacle to not exceed 128.
@SteveMacenski SteveMacenski mentioned this issue Apr 17, 2021
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@SteveMacenski
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https://github.com/ros-planning/navigation_experimental/blob/melodic-devel/sbpl_lattice_planner/src/sbpl_lattice_planner.cpp#L253-L271 SBPL has a solution to this locally. Doesn't really fit as a general solution, but it meets the needs for specific path planners

@SteveMacenski
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Closing w.r.t. that solution for the smac global planner collision detection algorithms. With some discussions with Alexey, that seems to be the lowest friction solution to fix in the algorithms as the others would involve significant overhauls of the inflation and costmap layer architecture. If this is an issue for you as a user in the future, please feel free to comment and we can reopen / discuss.

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