Remove map origin restriction

[dmiklic]

Currently, the planner works only if the map origin is at [0,0,0]. Remove this restriction.

[RickeyLee09]

Hi there, is this problem fixed? or do you have any ideas how to fix it? I'm trying to use this algorithm as a local planner, so the map origin cannot be set at[0,0,0].

[dmiklic]

Hi,

unfortunately, this limitation still exists. I will contact the original developer to see if he'd be able to point you in the right direction.

[dmiklic]

Hi @RickeyLee09, seems that the [0,0,0] assumption is quite deeply rooted in the code. The best workaround at the moment would be to transform all poses before sending them to the planner and then to apply the inverse transform to the planner output.

[RickeyLee09]

Got it! Thank you for your advise, I will look into it recently, if it works i will let you know!

…

Sent from my iPhone

On Nov 25, 2019, at 23:42, Damjan Miklic ***@***.***> wrote:  Hi @RickeyLee09, seems that the [0,0,0] assumption is quite deeply rooted in the code. The best workaround at the moment would be to transform all poses before sending them to the planner and then to apply the inverse transform to the planner output. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.