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For the future visitors,
I was trying to prohibit the unknown space from planners to plan through, and nothing helped but this parameter in my case.
Basically after setting GlobalPlanner/allow_unknown
to false
and track_unknown_space: true
for costmap layers, the expected behaviour was avoiding the unknown spaces while planning. But it didn't work without setting these parameters for costmaps:
global_costmap:
unknown_cost_value: 254
...
local_costmap:
unknown_cost_value: 254
...
Even though the question was ambiguous, I hope people will find this explanation after googling queries like "setting GlobalPlanner allow_unknown` parameter doesn't work".