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Invalid OMPL start/end states cause infinite loop #393

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marip8 opened this issue Oct 10, 2023 · 0 comments
Open

Invalid OMPL start/end states cause infinite loop #393

marip8 opened this issue Oct 10, 2023 · 0 comments

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@marip8
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marip8 commented Oct 10, 2023

If a motion plan start (or presumably end) state is in collision, the current implementation of the OMPL planner seems to get stuck in an endless loop that ultimately crashes the program:

[snp_motion_planning_node-7]          at line 207 in /build/ompl-SBXfir/ompl-1.4.2+ds1/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp
[snp_motion_planning_node-7] Error:   RRTConnect: Motion planning start tree could not be initialized!
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@marip8