Answer by jordan for could someone explain why sometines the global path planned by the robot for navigation ventures into the unmapped region? Images of the path planned to the goal are attached below. The planned path is in green. Through normal understanding, the global planner plans the shortest path in the mapped region and wouldn't traverse the unmapped region even if the goal point appears much closer through this.Is there a way to correct this apart from editing the map? Global planner : NavfnROSLocal planner : TrajectoryPlannerROSOS: Ubuntu 14.04. ROS: Indigo. Thank you.Edit:

Make sure you have set in `navfn_global_planner_params.yaml`: allow_unknown: false #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true I have observed that sometimes the first plan (after setting a goal) can still be wrong, but then it gets updated by the next plan (which is correct). If the planner frequency is high enough, then the robot does not have a chance to do anything undesirable. Also, from: https://answers.ros.org/question/215538/allow_unknown-parameter-ignored/ *Are you using a layered costmap from costmap_2d with an obstacle or voxel layer? If so you have to set the param `track_unknown_space` for that layer to true, otherwise it's converting your map's unknown space into free space (which navfn then correctly goes quite happily through).* So, make sure you have also set in `costmap_common_params.yaml`: track_unknown_space: true #true needed for disabling global path planning through unknown space