Skipping parts of global plan (viapoints enabled)

[Wimll]

Hi!

Is there currently an option to have a rolling window to check for the closest via points? I know the pruneGlobalPlan function discards all previous poses where the robot has been, but it takes into account the whole remaining plan.

However, due to the fact that it takes into account the whole remaining global plan it might skip large parts of the global plan, for instance if the global plan first goes to the right of a corridor and comes back on the left. If the robot then deviates from the global plan, for instance when avoiding an object, it might skip large parts of the initial global plan.

Or is there any other way to use a rolling window for checking which via-points or closest?

Thanks!