Davide Faconti

My advice is: do not do it. Do you modify your python script at runtime? Do you delete or add lines of code while expecting? If you think that is...

To be more clear, I will never ever support this use case. If you manage to make this work... Go ahead! 😊

I suggest not using the ROS2 build, but the submodule instead, described in the readme

Perfect timing, I am about to merge a branch that fix this

I will change the version of the BT.CPP library in the git submodule and merge this. Thanks

For the records... problem solved with `formulation.params_.force_polynomials_per_stance_phase_ = 1;` I have an intuition of why that is happening, but still looks weird to me. Another problem, apparently, was to have...

For your information. using a value of __z_voxels__ smaller than __max_obstacle_height / z_resolution__ makes this problem even worse. I am trying to find the reason in the code, may be...

It is for sure an interesting discussion, but not really related to the issue I am describing, i.e. the fact that valid rays are not raytraced because the Z height...

Hi @mikeferguson , everything you said is technically 100% correct. There are workarounds as you mentioned to obtain the same effect, but IMO 90% of the users of this plugin...

For the records, I think that many users will be bitten by this issue and I believe the PR I proposed was "correct" from a technical and semantic point of...