tal-grossman

I tried both. - just use the default voxel_min_points: 0 and - default file: standard_indoor_environment_config.yaml got the same issue https://user-images.githubusercontent.com/54407092/103175303-a6179600-4871-11eb-9fee-ed106a9ca537.mp4

> I'd recommend trying on a commit hash after the voxel min was added to validate that that is indeed the issue I am not sure which commit hash did...

After some more digging trying to find better possible causes for that behavior we think we might find something. - There seem to be that the **costmap `resolution`** and the...

I tried running the tb3 simulation again but with matching the voxel_size to the costmap resolution (both 0.05) **and had no inflation layer** and got the same bad result, see...

> I cannot emphasize enough how much I don't think the layers interact at all unless its an issue with the master costmap itself. This is possible, but doesn't seem...

sorry, I have not found the time to make the adjustments and find the root cause. If I do, I let you know

Good to hear! I think I have shared with you all the information I could get. Currently as a workaround we're using the STVL with another 'inflation layer' with `inflation_radius=0.1`...

> In case it hasn't become obvious yet, the PCL min_points feature is broken. It only works with Pointcloud1 type messages but not with the pointcloud2 format. yeah we realized...

I'v been working on such a controller and BT node my self for our robot, and I would like to have it out-of-the-box in the nav2 stack. I can also...

> @tal-grossman @SteveMacenski Are you still experiencing this problem: > > * frequently action server get this error msg: > > `[bt_navigator-4] [1608026552.800316163][bt_navigator][ERROR]: Action server failed while executing action callback:...