Taken into account the obstacles when planning with splines.

src/ackermann_planner.cpp

@@ -127,7 +127,7 @@ AckermannPlanner::AckermannPlanner(std::string name,AckermannPlannerUtil *planne
   std::vector<base_local_planner::TrajectorySampleGenerator*> generator_list;
   if(use_splines)
   {
-  //  critics.push_back(&obstacle_costs_); // discards trajectories that move into obstacles
+    critics.push_back(&obstacle_costs_); // discards trajectories that move into obstacles
     critics.push_back(&path_costs_); // prefers trajectories on global path
     critics.push_back(&goal_costs_); // prefers trajectories that go towards (local) goal, based on wave propagation
     critics.push_back(&heading_costs_); // prefers trajectories that go towards (local) goal, based on wave propagation