Crashes on noetic with "open set empty, no path!" error

[iamrajee]

kino_replan.launch crashes with the message "open set empty, no path!". I'm on ubuntu 20 ros noetic. I've made all the other necessary modifications. Any lead on what might be causing the issue?

I realised that my code went into the below snippet and continued(L189) thereafter. That is why it's unable to reach to this line(L278), where new pro_node is pushed to open_set_.

// Check if in close set
        Eigen::Vector3i pro_id = posToIndex(pro_pos);
        int pro_t_id = timeToIndex(pro_t);
        PathNodePtr pro_node = dynamic ? expanded_nodes_.find(pro_id, pro_t_id) : expanded_nodes_.find(pro_id);
        if (pro_node != NULL && pro_node->node_state == IN_CLOSE_SET)
        {
          if (init_search)
            std::cout << "close" << std::endl;
          continue;
        }

Also, I have included return value to avoid the Eigen:bad_alloc error in KinodynamicAstar::timeToIndex Function

int KinodynamicAstar::timeToIndex(double time)
{
  int idx = floor((time - time_origin_) * inv_time_resolution_);
  return idx; //new <==
}

Thanks!

[Zyhlibrary]

The crash seems not caused by the [kino replan], the message you mentioned "open set is empty" is normal, the kino replan need to init in first search, it success in second time. From the info, your error may occur in optimization part, you can check the part.