Limitations and Known Issues

The human-aware navigation framework relies on the lattice_planner and the timed_path_follower as global and local planners. The limitations of the lattice_planner and the path_follower are summarized in the wikis on their Github pages.

The provided human-aware navigation system can plan paths for multiple detected people, but is not designed for multiple pose hypothesis for one person (for example by scaling the social cost model according to a confidence value of a hypothesis). However, if you would like this feature, you can write your own dynamic layers plugin like described here.