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Hi Zhiping,

you can set the parameter allow_unknow of navfn to true. Then unknown points of the global costmap are possible goal positions (and possible points in the global plan). But make sure that the wanted goal position is within the bounds of your global costmap. If the goal is very close to an obstacle (in range of the inflated obstacle points) navfn will regard it as not reachable - at least in cturtle, may be this has changed in diamondback.

Regards, Sabrina

Hi Zhiping,

you can set the parameter allow_unknow of navfn to true. Then unknown points of the global costmap are possible goal positions (and possible points in the global plan). If you used this tutorial to set up navigation then adding the following line to move_base.launch should do the trick:

<param name="navfn/allow_unknown" value="true"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
...
</node>

But make sure that the wanted goal position is within the bounds of your global costmap. If the goal is very close to an obstacle (in range of the inflated obstacle points) navfn will regard it as not reachable - at least in cturtle, may be this has changed in diamondback.

Regards, Sabrina