障害物回避が上手く行かない問題の解消 (#515)

ibis-ssl · Aug 4, 2024 · 7126fad · 7126fad
1 parent 106da54
commit 7126fad
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/crane_local_planner/src/gridmap_planner.cpp b/crane_local_planner/src/gridmap_planner.cpp
@@ -34,7 +34,10 @@ std::vector<grid_map::Index> GridMapPlanner::findPathAStar(
   const Point & start_point, const Point & goal_point, const std::string & layer,
   const uint8_t robot_id) const
 {
-  auto isMapInside = [&](const grid_map::Index & index) -> bool { return map.isValid(index); };
+  auto isMapInside = [&](const grid_map::Index & index) -> bool {
+    grid_map::Position p;
+    return map.getPosition(index, p);
+  };
 
   auto isObstacle = [&](const grid_map::Index & index) -> bool {
     return map.at(layer, index) >= 0.5f;