Xin Zhou

Sorry, none of that.

What changes did you make to the planner. This problem should not happen.

Finding the reason that the planner stops before reaching the goal requires more videos and outputs.

odom由于持续的跟踪误差的，由于REPLAN_TRAJ的更新频率较高，如果每次使用odom来更新，该误差会不断累积

没有这一功能，需要你自己来加哦

I noticed that in your first video the drone failed to map the nearby obstacles when approaching the wall before crashing. It is abnormal.

the unit of inflation and clearance is the meter. Do not set obstacle_clearance to such a large number. It should be about dozens of centimeters.

The size of the real inflation is "RESOLUTION * ceil(INFLATION / RESOLUTION )"

A safe space that the planner will try to keep.

obstacle_clearance is more strict than obstacle_clearance_soft.