bosch-ros-pkg/navigation — pull request #13 by sachih (2014-08-19 21:47:40+00:00)
Title: Feature to allow the global planner to find a close by point with a better clearance from obstacles

Added option to search in a local region around the original goal (or obstacle free goal) and select a new goal if the obstacle cost is smaller than the original goal point

Use clear_goal_tolerance to set this value.

Note : Since there is no explicit connectivity check from the original goal to the new one - avoid setting high values for this - this can potentially cause the goal to jump to the other side of walls.