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how to clear global costmap where laser scan cannot see

asked 2016-06-12 05:05:05 -0500

gaojiao
41 ●2 ●6 ●5

Hi, When I set a goal that is located behind the robot, if the goal position was marked as obstacles, then global planner will fail because the goal is unattainable. How could I clear global costmap where laser scan cannot see? Or if move_base can move to the nearest attainable point to the goal? Any suggestion will be appreciated.

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