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IsPathValid to Considering robot footprint #3954
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Tried with planner server changes submitted in #3756 and latest changes for smac planner from main branch. However, I am still able to reproduce the issue. |
@aniket11bh that sounds like a great potential improvement that you can contribute! Have the function not just check point-costs but optionally check the footprint. Since the is path valid service is in the global costmap, it should have easy access to such information. Is that something you'd be open to contribute? Else, this will probably be marked for |
@SteveMacenski Yes indeed, it would be a great improvement. |
That might actually still yet be the soonest anyone would address it, if you were able to work on it in the new year. That’s only 6 weeks out and this is not high priority for maintainer’s time so it would only be if a volunteer contributor was interested in it sooner |
#4030 merging imminently |
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