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None of the XX first of XX (0) points of the global plan were in the local costmap and free



  • ROS运行move_base导航包时,如果使用的是DWA局部路径运动规划器,在参数forward_point_distance_取值不合适时(值过大)会出现这个错误

    [ INFO] [1499261355.590026703]: Got new plan
    [ERROR] [1499261355.591269319]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
    [ WARN] [1499261355.592835348]: Off Map -9.558478, 0.298699
    

    解决办法是将forward_point_distance_设置成合适的大小,比如0.5


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