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allow_unknown parameter ignored

asked 2015-08-10 08:30:48 -0500

Micha Sende gravatar image

updated 2015-08-11 03:32:58 -0500

Hi there,

I want to avoid the global planner to plan its paths through the unknown because it is not working for my case. So as described here I set the paramter allow_unknown to false. So I created a yaml named global_planner.yaml file like this:

   allow_unknown: false
   default_tolerance: 5

In the launch file for the move_base node I added a line to load the parameters:

<node pkg="move_base" type="move_base" name="move_base" respawn="true">
   <rosparam file="$(find multi_robot_simulation)/config/global_planner.yaml" command="load" />

The parameter also shows up in the parameter server:

rosparam get /move_base/NavfnROS/allow_unknown

returns false, as expected. So, whats wrong here???

Thanks for any help! Micha


I just pulled the navigation package from github to do some tests with the code. I realized the parameter is read just fine! The path planner still plans its path through unknown! Why??

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answered 2015-08-11 04:23:38 -0500

Micha Sende gravatar image

updated 2015-08-11 04:38:05 -0500

I guess next time I should read the parameter description more carefully:

The same issue has been described here:

The parameter in question can be found here:

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Is this solved then?

David Lu gravatar image David Lu  ( 2015-08-11 17:26:51 -0500 )edit

Yes, but I cannot accept my own answer.

Micha Sende gravatar image Micha Sende  ( 2015-08-12 02:12:53 -0500 )edit

To make this a bit more than a link-only answer: The parameter description for allow_unknown that is linked above says: "if you are using a layered costmap_2d costmap with a voxel or obstacle layer, you must also set the track_unknown_space param for that layer to be true..."

Felix Widmaier gravatar image Felix Widmaier  ( 2018-02-19 10:13:03 -0500 )edit

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Asked: 2015-08-10 08:30:48 -0500

Seen: 1,266 times

Last updated: Aug 11 '15