Skip to content

Fix missing cost consideration in first expansion of SmacPlannerHybrid #5653

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 3 commits into
base: main
Choose a base branch
from
Open

Fix missing cost consideration in first expansion of SmacPlannerHybrid #5653

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
2fccc7c
Fix missing cost consideration in first expansion of SmacPlannerHybri…
wang-fire Oct 25, 2025
5e7d3bb
Merge branch 'main' into fix-first-node-cost
wang-fire Oct 27, 2025
b68f394
Fix nullptr child handling in getTraversalCost() to prevent segmentat…
wang-fire Oct 27, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 4 additions & 5 deletions nav2_smac_planner/src/node_hybrid.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -390,18 +390,17 @@ bool NodeHybrid::isNodeValid(

float NodeHybrid::getTraversalCost(const NodePtr & child)
{
if (child == nullptr) {
return 0.0f;
}

const float normalized_cost = child->getCost() / 252.0f;
if (std::isnan(normalized_cost)) {
throw std::runtime_error(
"Node attempted to get traversal "
"cost without a known SE2 collision cost!");
}

// this is the first node
Copy link
Member

@SteveMacenski SteveMacenski Oct 31, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

See Mat's comment in the ticket please! He has a good point about another necessary change

if (getMotionPrimitiveIndex() == std::numeric_limits<unsigned int>::max()) {
return NodeHybrid::travel_distance_cost;
}

const TurnDirection & child_turn_dir = child->getTurnDirection();
float travel_cost_raw = motion_table.travel_costs[child->getMotionPrimitiveIndex()];
float travel_cost = 0.0;
Expand Down
Loading