Bug report
Required Info:
- Operating System:
- ROS2 Version:
- Version or commit hash:
- DDS implementation:
Steps to reproduce issue
Request a path computation with the goal located on the same costmap cell as the robot.
Expected behavior
The SmacPlanner successfuly returns a path containing either the start pose only, or the start pose and the goal.
Actual behavior
The SmacPlanner fails due to a backtrace error originating from https://github.com/ros-navigation/navigation2/blob/1.2.9/nav2_smac_planner/src/node_hybrid.cpp#L704
Additional information
In this case, the start pose is considered as "being" the goal by the A* planner (https://github.com/ros-navigation/navigation2/blob/1.2.9/nav2_smac_planner/src/a_star.cpp#L308), so the backtrace is triggered but the first pose has no parent, leading to the error. This use case is not common, but I wouldn't expect the planner to fail.
Bug report
Required Info:
Steps to reproduce issue
Request a path computation with the goal located on the same costmap cell as the robot.
Expected behavior
The SmacPlanner successfuly returns a path containing either the start pose only, or the start pose and the goal.
Actual behavior
The SmacPlanner fails due to a backtrace error originating from https://github.com/ros-navigation/navigation2/blob/1.2.9/nav2_smac_planner/src/node_hybrid.cpp#L704
Additional information
In this case, the start pose is considered as "being" the goal by the A* planner (https://github.com/ros-navigation/navigation2/blob/1.2.9/nav2_smac_planner/src/a_star.cpp#L308), so the backtrace is triggered but the first pose has no parent, leading to the error. This use case is not common, but I wouldn't expect the planner to fail.