setting unknown_cost_value to 100

[Jailander]

solves issue #39

[bfalacerda]

We also have the allow_unknown param for the global planner that could be set to false. That solution looks cleaner than this one, have you tried it?

[Jailander]

I have done some testing with this and haven't been able to make it plan over unknown areas yet, so I guess that works, I'll keep testing.

As for the allow_unknown parameter apparently is the one that actually considers unknown cells in the cost_map as unknown if not it just gives them obstacle cost, but it does seem a bit hacky as seen in https://github.com/ros-planning/navigation/blob/indigo-devel/navfn/src/navfn.cpp#L251

I'll test changing both today and change the pull request if needed, so don't merge just yet

[marc-hanheide]

@Jailander said:

I'll test changing both today and change the pull request if needed, so don't merge just yet

So?

[Jailander]

This works and has been tested

[marc-hanheide]

how is this related to strands-project/strands_navigation#188?

[Jailander]

It isn't, this has been tested and is ready to be merged, why?

[marc-hanheide]

sorry... got lost ;-)

[Jailander]

Hahaha Ok, me too :-D