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Add allow unknown paramter to theta star planner #371

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SteveMacenski merged 1 commit into from
Nov 16, 2022
Merged

Add allow unknown paramter to theta star planner #371

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11 changes: 11 additions & 0 deletions configuration/packages/configuring-thetastar.rst
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Expand Up @@ -70,6 +70,17 @@ The parameters of the planner are:
Description
If true, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path

:``<name>``.allow_unknown:

==== =======
Type Default
---- -------
bool True
==== =======

Description
Whether to allow planning in unknown space.

.. Note::
Do go through the README file available on this repo's link to develop a better understanding of how you could tune this planner.
This planner requires you to tune the `cost_scaling_factor` parameter of your costmap too, to get good results.
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