[PLANNER_SERVER] Path planning until last reachable pose #17
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- Introduced a new input port 'allow_partial_paths' to enable partial path planning when obstacles block later goals. - Modified the action definition to include the new parameter.
jpcastillo26
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Sunart24
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Oct 15, 2025
* Add support for partial path planning in ComputePathThroughPoses action - Introduced a new input port 'allow_partial_paths' to enable partial path planning when obstacles block later goals. - Modified the action definition to include the new parameter. * Remove unnecessary logic and debug logs * [PLANNER_SERVER][COMPUTE_PATH_THROUGH_POSES][FEAT] Return blocked poses in response
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Priorities definition
🟡 PRIORITY_MEDIUM:
Affects operation but has a temporary workaround. Should be fixed in the next release. May impact reputation or departmental data.
🚀 Basic Info
Main Goal: Implement partial path planning for
compute_path_through_posesaction to allow robots to navigate to the last reachable pose when obstacles block later goals in a multi-waypoint navigation sequence.closes
✨ Summary of Changes
allow_partial_pathsboolean field toComputePathThroughPoses.actiongoal definitionplanner_server.cppto handle planning failures gracefully with partial path supportcompute_path_through_poses_action.cppto read and pass the newallow_partial_pathsparameterallow_partial_pathsinput port to behavior tree action node incompute_path_through_poses_action.hppgetPlan()calls to catchNoValidPathCouldBeFoundexceptions📚 Docs Updated