Hello!
In performing catkin_make it receive an error
make[2]: *** No rule for make /home/lavrenovroman/catkin_ws/src/voronoi_planner/cfg/VoronoiPlanner.cfg', for/home/lavrenovroman/catkin_ws/devel/include/voronoi_planner/VoronoiPlannerConfig.h'. Stop
make[1]: *** [voronoi_planner/CMakeFiles/voronoi_planner_gencfg.dir/all] Error
Thank you in advance!

Here you don't use the Dijkstra or A_star algorithm. Whether there is a bug cannot use it or not using it owing to convenience? Hope to get your reply.

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "dynamicvoronoi"
with any of the following names:

dynamicvoronoiConfig.cmake
dynamicvoronoi-config.cmake

Add the installation prefix of "dynamicvoronoi" to CMAKE_PREFIX_PATH or set
"dynamicvoronoi_DIR" to a directory containing one of the above files. If
"dynamicvoronoi" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
voronoi_planner/CMakeLists.txt:6 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/ysz/husky-test/build/CMakeFiles/CMakeOutput.log".
See also "/home/ysz/husky-test/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

In planner_core.cpp, there are some memory leak.
For example, map is declared and allocated memory, but the memory is never released.

And closed and action have same issue.

When the code runs on a embedded board like NVIDIA Jetson TX2 or NVIDIA Jetson AGX Xavier, the findPath function for "res3" still increase the size of open nodes up to value ~700 , then it decreases until reach the value zero and return false (value 0).
After this process move base die and the program get in stuck.
Do you think there might be a bug in this implementation of voronoi_planner?

Note: If the code runs on a normal host pc the problem seems disappear.

Here don't use the Dijkstra or A_star algorithm. Whether there is a bug cannot use it or not using if owing to convenience? Hope to get your reply.