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In general, this error means that SBPL timed out before it could find a path connecting that start and goal points.

There are a few things you can try (in order from easiest to hardest):

  • Make sure SBPL and sbpl_lattice_planner are compiled in release mode ( catkin_make -DCMAKE_BUILD_TYPE=Release )
  • Increase the global planner timeout
  • Decrease the global costmap resolution
  • Decrease the number of SBPL primitives