Comments (1)
First video
It should be pretty clear why that failed; you're sending it a command clearly off of the map. That's not unknown space, that's space that's not even mapped to be even unknown, its out of bounds.
Second video
Your resolution of sensor is too low it seems. We do raycasting to clear out cells, so if your resolution is too low, there aren't enough "free" measurements in a given probablistic cell to mark it as free yet. When you move the robot, it triggers another update and thus more "free" measurements from a call come along to expand the space. The cells directly around the robot are marked the first time because the low-resolution is enough to hit the free threshold within that overlapping space only.
This is not a Nav2 issue but a SLAM issue with your sensor, use a higher resolution sensor to have more dense beams to be able to clear out more cells as unoccupied in a given measurement snapshot and/or use a depth camera SLAM instead of a lidar SLAM that models your sensor's limitations more accurately. SLAM Toolbox is built for professional grade lidars, typically ~0.5 degree resolution or higher
from navigation2.
Related Issues (20)
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- Bug in smoothPath Function of Simple Commander API on Humble Branch HOT 2
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- Way to do 2.5D navigation HOT 1
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- set size_x_ and size_y_ in method initMaps HOT 4
- [humble binary] BT: βmissing port [value]β for blackboard β{goal}β HOT 5
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- Add DCO requirements + bot to tell people how to fix if not used HOT 1
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from navigation2.