global_planner A* NO PATH

[alliansmover]

I often make mistakes when I use A* planning.

NO PATH! [ERROR] [1566820175.641018822, 322.374000000]: Failed to get a plan from potential when a legal potential was found. This shouldn't happen.

Can you tell me what is the problem? thanks

[trickarcher]

Try setting use_grid_path to false.

[bxc237]

Try setting use_grid_path to false.

If I recall correctly, use_grid_path should be set to true in order to make A* work, although I don't know why... If someone can explain the reason behind it, that will be great.

[willzoe]

I also encountered the same problem, even if set use_grid_path to false.

I posted my question here, I hope to get help.

[DLu]

Which version of global_planner are you using?

[Ellinier]

I also encountered the same problem when using A* planning and grid path.

I found it happened when the start point was (0.0, 0.0) or the end point was (0.0, 0.0). The same problem was also occurred in other situations such as the start point was (0.0, 0.1) and the end point was (0.5, 0.0).

I looked into the code and found it may mostly due to the grid_path.cpp At least in the Line70-71 if (min_x == 0 && min_y == 0) return false; when the start point was (0.0, 0.0), even if it got a path from the end point to the start point, it returned false.

I think there is also something wrong with the getPath mechanism, especially when dealing with some corner start points or end points, but I don't know how to fix it.

Can anyone help to solve it?

Many thanks!