Does sbpl_lattice_planner work with non-circular footprints?

asked 2016-10-18 07:51:39 -0600

jorge gravatar image

Hi all,

I use sbpl_lattice_planner on a rectangular robot with the diff drive center displaced from the center. When forced to do so (for example rotate within a narrow passage), sbpl_lattice_planner creates paths that will put the salient part of the footprint in collision, for example here:


Note that the "star" points bring the robot frontal part well within the lethal obstacle area. Is this a limitation of the planner? Or, if the selected primitives are checked against footprint-costmap overlapping, can be a bug in the implementation? Any hint on which part of the code to check?


PS I already opened a github issue, but I'm afraid navigation_experimental repo doesn't receive too much attention nowadays.

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