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Inflation layer doesn't respect possibly inscribed definition #1110

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SteveMacenski opened this issue Apr 17, 2021 · 1 comment

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SteveMacenski commented Apr 17, 2021

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.

CC Nav2 ros-navigation/navigation2#2315

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SteveMacenski commented May 15, 2021

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

mikeferguson added bug costmap_2d labels

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