Missed inscribed radius check with footprint

asked 2020-07-08 10:12:36 -0500

Pashek gravatar image

This is the repetition of issue filed on github https://github.com/ros-planning/navig... The problem is that with footprint specified, the robot sometimes goes directly across very small obstacles. The reason behind that seems to be the next one. With footprint specified, the robot's center is not tested for being in INSCRIBED_INFLATED_OBSTACLEarea https://github.com/ros-planning/navig... Only footprint boundary is tested for crossing NO_INFORMATION and LETHAL_OBSTACLE. And if all the footprints projected into the future along the considered trajectory miss NO_INFORMATION and LETHAL_OBSTACLE area, the trajectory won't be discarded by SimpleScoredSamplingPlanner, bcz the score returned by CostmapModel::footprintCost will be positive. Though the robot's center can cross INSCRIBED_INFLATED_OBSTACLE area, meaning it hits an obstacle.

Seems like the check in the line mentioned should be omitted, so that the check for robot's center is done with footprint specified too.

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