Hi,

You make a change in slam_gmapping.cpp to let you send a goal in unknown
area if you are using gmapping:

change this line:

map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = -1;

To

map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = 0;

I have a screenshot here for the demo. The green area is the explored
area by A*:
http://www.youtube.com/watch?v=CQ_BlPomr9c&hd=1

Cheers,
Simon


On Tue, Nov 30, 2010 at 9:15 AM, Christian Verbeek <
verbeek@servicerobotics.eu> wrote:

> Dear All (especially Eitan),
>
> The allow_unknown parameter in navfn should allow to plan a path through
> an unknown area. It does not seem to work. If there is an incomplete map
> I would expect to get a path from navfn if the goal is in an unknown
> area and the clear_goal_position flag is true.
>
> Regards
> Christian
>
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