Open h3ct0r opened 4 years ago
Hi @h3ct0r,
could you run your setup with DEBUG messages to see if elevation mapping adds points from the point cloud?
Can you also plot the pose values? Some points of the point cloud get filtered out of the elevation map because of the following messages:
[DEBUG] [1581555090.146006097, 1061.394000000]: Limiting point cloud to the height interval of [-inf, 0.400000] relative to the robot base.
[DEBUG] [1581555090.148020359, 1061.395000000]: removePointsOutsideLimits() reduced point cloud to 84178 points.
It could be that only points remain that are outside of the defined elevation map area.
Hi! First, thanks for making this package available :)
I'm trying to make the package work with a custom turtle-bot based robot, and I'm trying to figure out where is the missing piece to make the package work.
The turtlesim3_waffle_demo.launch worked normally, but with my particular configuration, the map is only outputting nan values, and I cannot see any error in the console even in DEBUG mode.
What could this problem be? I'm using a Kinect sensor. Thanks!
My YAML config (myrobot.yaml) looks like this:
The transformation between the camera frame and the robot exists:
The pose with covariance is given by the odom + IMU with the robot_pose_ekf package:
My launch file looks like this:
And the output with DEBUG flags looks like this:
When echoing the contents of
/elevation_mapping/elevation_map
I'm seeing the layers full of nan like in the attached picture: