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planner_cspace: check whether if the goal is reachable in static map #142

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at-wat opened this issue Apr 25, 2018 · 1 comment
Open

planner_cspace: check whether if the goal is reachable in static map #142

at-wat opened this issue Apr 25, 2018 · 1 comment
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@at-wat
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at-wat commented Apr 25, 2018

neonavigation/planner_cspace/src/planner_3d.cpp

Lines 1504 to 1507 in d41c222

if (cost_estim_cache_[s_rough] == FLT_MAX)
{
status_.error = planner_cspace::PlannerStatus::PATH_NOT_FOUND;
ROS_WARN("Goal unreachable. History cleared.");

if reachable in static map and temporary_escape_locally_blocked param is set, try temporary escape
@at-wat
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at-wat commented Apr 25, 2018

Add checkArrivability function and search on cm_rough_base_

@at-wat at-wat changed the title Check whether if the goal is reachable in static map planner_cspace: check whether if the goal is reachable in static map Jun 23, 2018
@at-wat at-wat self-assigned this Aug 24, 2018
@at-wat at-wat removed their assignment Dec 28, 2019
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