MortezaH

https://github.com/ros-simulation/gazebo_ros_pkgs/blob/231a7219b36b8a6cdd100b59f66a3df2955df787/gazebo_plugins/src/gazebo_ros_diff_drive.cpp#L291-L304

navfn (getPlanFromPotential or makePlan) is not using the last updated map form costmap_2d

1

I noticed that occasionally (mostly when working with big maps) the global_plan intersects with obstacles when using move_base to navigate to a goal. This shouldn't be a problem since the...

https://github.com/ros-planning/navigation/blob/9ad644198e132d0e950579a3bc72c29da46e60b0/costmap_2d/src/costmap_2d.cpp#L187C1-L191C1 Is the getCharMap function returnds the costmap_ (unsigned char*) while it is beeing updated by LayeredCostmap::updateMap? Is it possible that this costmap_ is not fully updated while used by...