hi,

I am tuning teblocalplanner with melodic version.

I am confusing for new obstacle assosciation parameters,

footprint_model:
  type: circular
  radius: 0.3
min_obstacle_dist: 0.15 

legacy_obstacle_association: false
obstacle_association_force_inclusion_factor: 2
obstacle_association_cutoff_factor: 5

Q1: For a circle footprint model, Does the minobstacledist include base radius?

Q2: For new version obstacle association strategy when legacyobstacleassociation is false, how to understand it? cutofffator param should be larger than forceinclusion_factor? when robot faces obstacle , teb might produce a path, cross obstacle and unknow map area, this scene planned path is invalid to achieve, but teb try to arrive there.

rviz images