A* path plan fluctuates when GlobalPlanner/use_quadratic is set to true

[natashasoon]

Hi everyone, I'm facing some issues with the global planner when using A*, and with the GlobalPlanner/use_quadratic parameter set to true. The planned path fluctuates back and forth quite often, which can be seen in the video below.

astar_fluctuating.mp4

This does not happen as long as GlobalPlanner/use_quadratic is set to false, although I'm not quite sure why. The plan generated with Dijkstra doesn't have this problem either, even when GlobalPlanner/use_quadratic is set to true. Has anyone else encountered this problem?

For context, I am using the Turtlebot3 Burger in the turtlebot world environment that has been mapped beforehand, although this happens with other environments as well.

[Astaxuqichao]

Hi , I find the fluctuates of path while replanning.
Try my fork https://github.com/Astaxuqichao/navigation/tree/noetic-devel
or see https://github.com/ros-planning/navigation/pull/1263