Robot stops when it is located at a dead end

[hyunjun-cho]

I've started with a fresh ubuntu 18, ros melodic version and use ec2 server
with 4 core and 16 memory. when experimenting using this code. it works well. but when the robot is located at a dead-end, it searches in ordinary path and stops that location. If you experienced this situation during the experiment, can you tell me the cause and solution?

And Currently, only global_rrt_detector, local_rrt_detector, assigner, filter files are required to be launched in the launch file, but please let me know why the rrt,rt_single, automatic_rrt files in the node directory are not used and what are available.

Thank you and please reply me.