Invalid OMPL start/end states cause infinite loop
marip8 opened this issue · 0 comments
marip8 commented
If a motion plan start (or presumably end) state is in collision, the current implementation of the OMPL planner seems to get stuck in an endless loop that ultimately crashes the program:
[snp_motion_planning_node-7] at line 207 in /build/ompl-SBXfir/ompl-1.4.2+ds1/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp
[snp_motion_planning_node-7] Error: RRTConnect: Motion planning start tree could not be initialized!