Hi,

That was the correct answer. Thank you very much. I wonder if one should
make this a parameter in later versions.

Regards
Christian

Am 01.12.2010 10:33, schrieb Ye Cheng:
> 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 <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 <mailto: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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