global_planner path calc out of bounds --- weird potential field --- rolling window global costmap

[tristan-schwoerer]

Hi, i am using the global_planner with A* and a non static (rolling window) global costmap. Therefore i set outline_map to false. most of the time everything is working perfeectly. Unfortunately sometimes i get

[ERROR] [1615495223.231827424, 22474.899000000]: NO PATH! [ERROR] [1615495223.231872072, 22474.899000000]: Failed to get a plan from potential when a legal potential was found. This shouldn't happen. and the info: [PathCalc] Out of bounds

when looking at the potential field i can see that something doesn't look right. See in the attached picture:

This is potential field and global costmap on top of each other. Additional the robot, The goal and the incoming range data for the layers. I don't know why the potential field starts again with that white part at the top.

I would appreciate any help with this although i think it might be a bug, that occurs when using the global planner in the rather uncommon way of a rolling window costmap.

Tristan

System:

Ubuntu Mate 20.04.02 branch: noetic_devel