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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