Jorge Santos Simón

I @iluetkeb, I'll be at ROSCON; hope we will have plenty of time to talk about navigation! For the example about the global planner I mentioned above, believe me, we...

> If you are looking for less dense plans, is there a reason you dont prune them for your next use in an intermediate step or use a coarser costmap...

Can we retake this PR? It provides a nice performance boost and has been widely used for years, and also merged on ROS2 navigation. So is a safe bet.

wow! never noticed that... Thanks for reporting! No, no clue. A first guess is that the are not inflating the cells in the right order (from closer to farther to...

Found it. The guilty us the enqueued check. With:  without:  Price is a small decrease on performance, partially compensated by using emplace on adding new cells (I think...

:see_no_evil: I just noticed that [ROS2 navigation](https://github.com/ros-planning/navigation2/blob/main/nav2_costmap_2d/plugins/inflation_layer.cpp#L298) already has this PR with the bulges fixed... I wonder why nobody worried to mention it here!

> But in Nav2 when you’re ready to move over Looking forward to start using it... asa we move to ROS2!

Sorry, I'm not familiar with RecoveryBehavior API, so I cannot have an informed opinion. When do you plan to attack this issue?

Hi Brian, you are clearly calling for [move_base_flex](https://github.com/magazino/move_base_flex) (hope you attended the presentation at ROSCon! :angry:). Well, is not exactly what you need, but for sure can accommodate possible solutions...

Not really; only when trying global localization. I suppose this is because on global localization is normally the only moment when there are particles pointing to any heading "competing" to...