move_base global planner plans outside static map
Hi, The default global planner plans outside the static map i.e. unexplored area. Is there any parameter I have missed out?
planner_params.yaml
base_local_planner: dwa_local_planner/DWAPlannerROS
recovery_behaviors: []
planner_frequency: 0
planner_patience: 1000.0
controller_patience: 1000.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
controller_frequency: 20.0
global_constmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 1.0
static_map: true
Unfortunately during mapping, not all parts of the room was bounded by a wall i.e. black color cells in the occupancy map. The planner found a path that goes outside the static map from one end and then into the other side of the room.