I have been trying to understand the algortihms in the global planner in the ROSnavigationstack works with a known occupancygrid map. So as to see if there was a way to change the how the path planner chooses what grids to use as part of the path the robot takes to a goal. As of now the path planner will sometimes choose paths that are very close to an obstacles and that makes the robot have to stop moving or it collides. Here is an illustration of what I mean: robotchoosessuboptimalpathto_goal

I want to edit some of the algorithms in the ROS navigation stack so more reasonable paths are created. This is required for my project. I have looked at the grid_path.cpp file in the src folder and it seems if I change something in there my problem would be solved but I'm not sure. As a second possible solution,perhaps replacing the DWA_local_planner with the `teblocalplanner' plugin would be the fix for better obstacle avoidance during path planning. I have had issues getting this to work as well and have asked about it here. Any help on fixing my issue would be greatly appreciated.