search

ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
1.25k stars 436 forks source link

elevation map service save only the visible map not complete map #183

Closed Thedush closed 2 years ago

Thedush commented 2 years ago

the elevation map was generating it called the tigger_fusion and start generating map then i saved the map it got saved but saves only the visible region

maximilianwulf commented 2 years ago

Hello @Thedush, elevation mapping is a robot-centric terrain mapping package. This means it will only contain the map around the robot. It will not save map parts outside of the map size.

I hope this answers your question, feel free to re-open if further information is required.

Thedush commented 2 years ago

so can I get this elevation mapping as a local_map for navigation not for mapping ? do you have any path planner for planning on top of the elevation mapping

maximilianwulf commented 2 years ago

No, this package does not provide a planner. But you will easily find them online.

Thedush commented 2 years ago

i have searched a lot for the planner i couldnt find one. if you know any planner can you suggest me one

maximilianwulf commented 2 years ago

You can check out this thread as well: https://github.com/ANYbotics/elevation_mapping/issues/29

In general what people do is to transform the elevation map to an occupancy map and then use standard planners. I think the navigation package in ROS2 wants to do planning on elevation maps.

SahanGura commented 2 years ago

If I need to save the whole elevation map of the observed area; instead of the local map, what are the possible ways to implement it with this package?

maximilianwulf commented 2 years ago

Hi @SahanGura, one way would be to set the size of the elevation map big enough to cover your whole area. With the save service call you can then save the elevation map.