Taking into account the unknown zones by the LocalPlanner
Dear all,
As far as I understood, the unknown zones are defined in the _GlobalCostMap_ in order to help the _GlobalPlanner_ to generate a _GlobalPlan_ which does not interfere the Unknown Zones. But, the _LocallPlanner_ does not take into account this information.
I was wondering if there is a way that the _LocalPlanner_ takes into account the information about the Unknown Zones?
The problem which I try to solve is that when the robot wants to avoid an obstacle, it enters inside an unknown zone which is not desired.
Thanks,