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[SMAC planner] Start and goal are moved to closest cell #4249
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This is definitely true and is detailed in this ticket: #3955 I even highlight a solution in this comment: #3955 (comment) if but it seem that you're already so inclined and implemented it. Open a PR and you can quash another ticket too :-) |
I saw that issue last year but the title confused me and I didn't follow your reply.
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Bug report
When creating a plan, the start and the goal are moved to the middle of the closest cell.
Required Info:
Steps to reproduce issue
Plan a path not in the middle of a cell.
Expected behavior
The start and the goal are at the requested place.
Actual behavior
The start and the goal are moved to the middle of the closest cell
Additional information
This is due to the process used to add start and goal poses:
(smac_planner_hybrid.cpp)
But
setStart
turns it back to float:https://github.com/ros-planning/navigation2/blob/f815e8bd8e3826603e97749bb31a3145268de023/nav2_smac_planner/src/a_star.cpp#L145-L157
We can just compute the
worldToMap
manually to keep it as a float and modifysetStart
input types.The text was updated successfully, but these errors were encountered: