Planner give the path through the obstacle

[fu941110]

In some extreme situation, the planner will give shortest but impassible path, and the controller detect that, so the robot will stop.

But the BT can continue to run normally. (if I set new goal, it will refresh and plan new path)

Try to fix the following codes to deal with the bug:
https://github.com/DIT-ROBOTICS/Eurobot-2026-Navigation2/blob/develop/src/Navigation2/nav2_navfn_planner/src/navfn_planner.cpp
https://github.com/DIT-ROBOTICS/Eurobot-2026-Navigation2/blob/develop/src/Navigation2/nav2_navfn_planner/src/navfn.cpp

Or consider using another planner:
SMAC planner:
https://docs.ros.org/en/humble/p/nav2_smac_planner/

problem example:
ros2 run object_layer ObjectSim

open all section in keepout_layer

[JustinShih0918]

@fu941110 good for you to find the bug and discover solution by yourself!
please work on this issue

[fu941110]

I choose to use smac_planner package to replace navfn_planner. After testing, I set the following params:

cost_travel_multiplier: 10.0 
distance_heuristic_weight: 1.0
cost_penalty: 1.0   

I remain the default A* algorithm and linear cost penalty. The result is it will prefer to avoid the high cost section.
testing example:

after_Keepout.webm

after_Object.webm

the object_layer show even in extreme case, it can still plan the route correctly.
for normal case, it will run like the keepout_layer shown.

[2006wu]

@JustinShih0918

I create a new branch called fix/smac_go_not_straight and I did follow points below.

• simplify A* path by line-of-sight segments
• resample simplified segments at fixed spacing
• add params for skip limit and spacing

Here is the result.
https://youtu.be/DRHZr1h0e3c
https://youtu.be/Dqy7qIyLzhI
https://youtu.be/ClD8NEVW25Q