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4am-robotics / cob_driver

The cob_driver stack includes packages that provide access to the Care-O-bot hardware over ROS messages and services. E.g. for mobile base, arm, camera_sensors, scanners, etc...
www.care-o-bot.org
Apache License 2.0
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[cob_scan_unifier] cob_scan_unifier is not merging complete scans in simulation #249

Open benmaidel opened 8 years ago

benmaidel commented 8 years ago

From @ipa-bnm on September 17, 2015 12:5

scan unifier produce gap on the back of cob4-2 screenshot from 2015-09-17 14 01 09

@ipa-frm @ipa-mig @fmessmer FYI

_Copied from original issue: ipa320/cobnavigation#53

benmaidel commented 8 years ago

From @ipa-mig on September 18, 2015 6:1

hmm, also, there is a z-offset (which will probably not be a problem for our use-cases... but we should change that anyways...

benmaidel commented 8 years ago

the z-offset seems to be ok. Imagine the scanners are mounted in different z positions (eg. our BMW). So transform the scans to the ground is ok, from my opinion. A better solution would be the usage of a point cloud instead a merged scan message.

benmaidel commented 8 years ago

https://github.com/iralabdisco/ira_laser_tools there you can find a tool with the same purpose as cob_scan_unifier. Difference:

Perhaps we should stick to this package? We could even copy the code from this package to our repo, because it has no license at all.

destogl commented 8 years ago

@ipa-bnm yesterday I ported cob_scan_unifier to tf2 (s. #257), are you proposing to use this other repository and let cob_scan_unifier to die out? This is important to me to know in which direction to go.

Regarding this not merging scans, I also saw it with real scans but can not really say where is the problem.

benmaidel commented 8 years ago

@destogl for now we will stick to cob_scan_unifier. For the moment there are no plans to switch to another solution. But if we continue to have problems with cob_scan_unifier , it could be that we change or reimplement it. I will also have a look at your PR

mgruhler commented 7 years ago

Also, check the angle increment, see comment

fmessmer commented 7 years ago

@ipa-mig, is @mig-em working on this after we merged #324?

mgruhler commented 7 years ago

he should be :-)

ghost commented 7 years ago

I can't reproduce this bug in the current scan_unifier. I tested by rotating in a corner of ipa-apartment and farer away to increase the effect, but no gaps showed up.

fmessmer commented 7 years ago

@ipa-bnm @ipa-mig Have you had a chance to test the latest version of cob_scan_unifier (using synchronizer)? So has this issue become obsolete?

HannesBachter commented 7 years ago

this occured today: multiple_scans is this related to the issue? (latest commit is from April 5th 2017)