So, you had to make all the unknown space (-1) in the map free space (0) to get the planner to plan through it?
That seems like a really hacky thing to do - free space != unknown space when dealing with a map, even if it is when doing planning in that map. For example, if I recall correctly, the models AMCL uses treat a scan that falls in unknown space differently than a scan that falls in free space (or at least, I could see it making sense to do so). I wouldn't want to have to map with the parameter set to one value then plan with another value.
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;
Tomap_.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
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.