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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
1.32k stars 445 forks source link

How Can I run this software in real time? #103

Open LZMHIT opened 5 years ago

LZMHIT commented 5 years ago

Dear Author, I have tried your work, it is amazing, however when I run it, the map grow up slowly, it couldn't refresh the map in real time against with my robot moving. Could you please tell me why? And what is more ,can I get the whole map instead of the robot-centric map?

maximilianwulf commented 5 years ago

Hi @LZMHIT, thank you for using elevation mapping.

In which frequency did it run on your system? It depends on the hardware and the settings. This pull request #96 discusses some possibilities to increase fps.

And what is more ,can I get the whole map instead of the robot-centric map?

Do you mean that the map should constantly grow? The elevation map is always robot-centric.

LZMHIT commented 5 years ago

Hi @LZMHIT, thank you for using elevation mapping.

In which frequency did it run on your system? It depends on the hardware and the settings. This pull request #96 discusses some possibilities to increase fps.

And what is more ,can I get the whole map instead of the robot-centric map?

Do you mean that the map should constantly grow? The elevation map is always robot-centric. Yeah, that just what I mean, thank you for your reply, I have another question. Yesterday, I tried to use elevation mapping with velodyne 32, however it seems that it can not get a continuous terrain mapping, can I use the parameters like the struct_light?

pfankhauser commented 5 years ago

@LZMHIT Did you make sure to build in "Release"? Although the elevation mapping was originally developed for a robot-centric formulation, you can also associate the map to a static frame and run it world-centric.

LZMHIT commented 5 years ago

@pfankhauser I only build with catkin_make, and I got a world-centric map by changing the track_point_frame_id in starleth.yaml, however how can I fuse all the every data frame form the sensor like kinect together in to the map? Till now, I can only get the map from the newest sensor data, while it disappeared when the next frame come, could you please tell me how to fused them together?

maximilianwulf commented 5 years ago

Yeah, that just what I mean, thank you for your reply, I have another question. Yesterday, I tried to use elevation mapping with velodyne 32, however it seems that it can not get a continuous terrain mapping, can I use the parameters like the struct_light?

You can use this YAML file for Velodyne 32.

DLonng commented 2 years ago

Is there a yaml file for robosense-16？

maximilianwulf commented 2 years ago

@DLonng, no, but feel free to make a PR to this repo if you tune a new configuration file.

DLonng commented 2 years ago

@DLonng, no, but feel free to make a PR to this repo if you tune a new configuration file.

ok, thanks