Planner does not respect obstacles from costmap filter

[automech-rb]

Bug report

Required Info:

• Operating System:
  • Docker 20.04 Ubuntu
• ROS2 Version:
  • rolling
• Version or commit hash:
  • latest 104bdc51fb72e05af4ccb4fb96a2fd421239f016
• DDS implementation:
  • rmw_cyclonedds_cpp

Steps to reproduce issue

Use SMAC lattice planner and RPP.
Robot with rectangular footprint
Costmap with keepout filter

Same question asked on ROS answers

Expected behavior

I am using keepout costmap filter (as shown in above picture), pink color area is from keepout zone in 'trinary map mode'.

When using SMAC Lattice planner, the path generated is so close to obstacles (keepout) that it's definitely colliding with it (pink area with robot footprint). I don't understand why it is like that? According to Nav2 wiki, trinary (default mode): Darkness >= occupied_thresh means that map occupied (100).

Actual behavior

Isn't planner supposed to check for collision w.r.t. the footprint (Green box in this case.)? (That is to keep footprint out of the pink area)

Additional information

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