[ompl-users] "duration" input to the "propagate" function is not sampled

[Kejia R. <kr...@ri...>]

Hello,

We are using the RRT planner with controls in python. I just found out a
problem that, even if I already set the control duration to have different
values for min and max, the "duration" input to the "propagate" function
always takes the same value. Specifically, I set the space information of
my planner with "setPropagationStepSize(0.5)" and
"setMinMaxControlDuration(1, 5)", so based on my understanding, the control
duration should be sampled with five possible values {0.5, 1.0, 1.5, 2.0,
2.5}. However, inside my "propagate" function I found the input for
"duration" always takes the smallest value which is 0.5. And after the plan
is solved, in the solution path the durations take different values. Right
now this weird problem is causing significant inconsistency between the
planned path and its actual execution. I have no idea where the problem
could come from, and don't know how to solve it since we are not going to
modify anything inside the main "solve" function. Hope anybody could help
provide any clues based on my description. Thank you!

Best,
Kejia