Ebandplanner fails when the global plan crosses an obstacle only present in the local one

[corot]

This is a restriction of the approach, as it essentially combines global and local planning.
A possible solution would be to only use 1 costmap instead of 2.

[piyushk]

I still haven't found a correct solution for this bug, but will attempt the following fix.

If the local plan receives a plan that it cannot convert to a band on first go, try clearing the costmaps first once. Clearing the costmaps typically resynchronizes the local and global costmap around the robot. I believe this should be as simple as calling costmap_ros_->resetLayers() and trying to convert the global plan to an elastic band in the local window again.

[piyushk]

The above solution seems to be working, but will likely require a lot more testing.

[jcmayoral]

hi. I am new about the topic and I am reading the documentation of ebandplanner but I cannot find the limitations or the considerations of the algorithms. I know that it combines the global and local planner but is there other limitation?

[ompugao]

i encountered this problem. how do you always debug these kind of problems?
how can i attach gdb and inspect what's going on exactly when it happens?