Fix: Resolve Map is not initialized error in MIGHTY during terminal goal sanitization#24
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Josgonmar wants to merge 1 commit into
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Fix: Resolve Map is not initialized error in MIGHTY during terminal goal sanitization#24Josgonmar wants to merge 1 commit into
Josgonmar wants to merge 1 commit into
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Hi!
Thanks a lot for open-sourcing your outstanding work! I find myself playing a little bit with it in a simulator, and found out that when the terminal goal falls in occupied space, MIGHTY cannot relocate it even though there is plenty of space. The error it prints is as follows:
[mighty-1] Map is not initialized.[mighty-1] [MIGHTY] sanitizeTerminalGoal: goal is occupied and no free/unknown cell found within BFS budget; dropping goalChecking the code I noticed how
map_initialized_flag in theMapUtilis checked in several functions used during "terminal goal sanitization", and found out that this flag is set to false, and never changed.