I tried to use the function calc_dist_to_closest_obstacle from motion_planner/search_algorithms/base_class.py but when I looked into the code I realized it is only implemented for a circle obstacle, which are rare.
Is there a reason for this or is it just an implementation error?
When I remove if isinstance(shape_obs, Circle): it works fine for me.
Hi, it could be the case that this function was not fully implemented or was changed due to some reasons. You are free to modify the functions as you wish 