Reduce global path spacing/state space size from 30km to 3km#850
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raghumanimehta merged 10 commits intomainfrom Mar 29, 2026
Merged
Reduce global path spacing/state space size from 30km to 3km#850raghumanimehta merged 10 commits intomainfrom
raghumanimehta merged 10 commits intomainfrom
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raghumanimehta
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Mar 8, 2026
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Thanks for the changes!
Just a couple suggestions and questions.
AMaharaj16
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Mar 16, 2026
raghumanimehta
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Mar 29, 2026
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Minor comment issue plus cicd is broken.
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Know how to fix the 1 failing test. Will do it tomorrow |
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Nevermind, was seeing old email about CI failing; it's good now. |
raghumanimehta
approved these changes
Mar 29, 2026
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Description
This PR resolves the issue where the ompl path does not reach all the way to the goal point when the maximum edge length is set small. We do want to have a small edge length to reduce the possibility of edges of the path cross cutting obstacle collision zones (while the end points are not in the collision zone)
Global path interval spacing was changed from 30.0 km to 3.0 km and the maximum edge length was reduced from 5.0 km to 0.5 km.
Verification