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Transient empty paths: leave the inflated zone, debounce NoPathEvaluator - #164
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A planner may fail for a single cycle and plan again at once (e.g. with the robot inside the inflated zone). The path must stay empty for debounce_duration (1.0 s) before it is an ERROR; until then, WARN. Refs #163 Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
With the robot within the inscribed radius of an obstacle, every neighbour cost 253 and the path came out empty. Inscribed cells within the robot's inscribed radius of the start are now traversable when the start is in the inflated zone; lethal and unknown cells never are. Fixes #163 Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Fixes #163
CostmapPlanner: when the robot is already inside the inflated zone, the inscribed cells (253) within its inscribed radius of the start are traversable, so the path leads out instead of being empty. Lethal and unknown cells never are; from a free cell nothing changes.NoPathEvaluator: an empty path is anERRORonly once it has lasteddebounce_duration(new, 1.0 s); until then,WARN. The debounce restarts when a path comes back or with a new goal.Kobuki playground with MPPI, the same 8 goals through the house: all reached, and human assistance requests for
no_pathwent from 23 to 1. The remaining one lasted about 2.5 s near a goal close to a wall: a real empty path, not a single cycle.Tests: escaping from the inflated zone (it fails without the change), never through lethal or unknown cells, no farther than the inscribed radius, nothing new from a free cell; the debounce, its default, zero debounce, and its restarts.