# Revision history [back]

I know this may not directly answer your question, but I would recommend first tuning your robot_footprint and inflation_radius parameters. By increasing the robot's footprint to the correct size, it will automatically cause the robot to leave more space around obstacles (the corner) and could potentially solve your problem without having to modify base_local_planner. See costmap_2d for descriptions on the robot_footprint and see this question for information regarding the inflation radius.

To actually answer your question, you cannot modify the local path without intercepting it in move_base. The move_base node is responsible for passing the plan from the global planner to the local planner. You'd have to modify the move_base source code if you want to add this functionality. Could it be done? Yes. Is it the best way? I'm not so sure.

I know this may not directly answer your question, but I would recommend first tuning your robot_footprint and inflation_radius parameters. By increasing the robot's footprint to the correct size, it will automatically cause the robot to leave more space around obstacles (the corner) and could potentially solve your problem without having to modify base_local_planner. See costmap_2d for descriptions on the robot_footprint and see this question for information regarding the inflation radius.

To actually answer your question, you cannot modify the local path without intercepting it in move_base. The move_base node is responsible for passing the plan from the global planner to the local planner. You'd have to modify the move_base source code if you want to add this functionality. Could it be done? Yes. Is it the best way? I'm not so sure.

EDIT:

From your parameter dump, I've noticed that your path_distance_bias is set to 0.0. This means that the local planner (in theory) won't care about the path generated by the global planner, and will head directly toward the goal as directly as possible. You need to give some path bias to tell the robot to value the plan in order to move out of the room.