How can I put as a goal an unknown cell in gmapping

asked 2018-03-01 05:14:11 -0500

roberto3 gravatar image

I am using gmapping to recognise the map but my scan does not put cells as free until it sees an obstacle so if the map does not have obstacles in this direction it does not mark as free cells. The problem is that I can not put a nav 2D goal in rviz cells which are unknown. For example if the map is all free it can not navigate to any place because all is unknown. Any help? Can I make anything to set a goal in any unknown cell?

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