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Fix missing cost consideration in first expansion of SmacPlannerHybri… #5670

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Fix missing cost consideration in first expansion of SmacPlannerHybri… #5670

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9 changes: 3 additions & 6 deletions nav2_smac_planner/src/node_hybrid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -397,11 +397,6 @@ float NodeHybrid::getTraversalCost(const NodePtr & child)
"cost without a known SE2 collision cost!");
}

// this is the first node
if (getMotionPrimitiveIndex() == std::numeric_limits<unsigned int>::max()) {
return NodeHybrid::travel_distance_cost;
}

const TurnDirection & child_turn_dir = child->getTurnDirection();
float travel_cost_raw = motion_table.travel_costs[child->getMotionPrimitiveIndex()];
float travel_cost = 0.0;
Expand All @@ -419,7 +414,9 @@ float NodeHybrid::getTraversalCost(const NodePtr & child)
// New motion is a straight motion, no additional costs to be applied
travel_cost = travel_cost_raw;
} else {
if (getTurnDirection() == child_turn_dir) {
if (getTurnDirection() == child_turn_dir ||
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@SteveMacenski SteveMacenski Nov 19, 2025

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I think you should implement this as Matt suggested in

Otherwise we could move the first node check to https://github.com/ros-navigation/navigation2/blob/main/nav2_smac_planner/src/node_hybrid.cpp#L418 so that we don't apply any turning or change penalties on the first expansion.

getMotionPrimitiveIndex() == std::numeric_limits<unsigned int>::max())
{
// Turning motion but keeps in same direction: encourages to commit to turning if starting it
travel_cost = travel_cost_raw * motion_table.non_straight_penalty;
} else {
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