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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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Can't change resolution of map yaml #93

Closed lawrenceztang closed 3 years ago

lawrenceztang commented 3 years ago

I tried to make a custom map, but I found out that when I tried to change the resolution in the map yaml file to something other than .05, I get an error: 

[ INFO] [1626805133.713636752, 178.933000000]: Name is SBPLLatticePlanner
terminate called after throwing an instance of 'SBPL_Exception'
  what():  ERROR: failed to read in motion primitive file

I don't know what this means or what motion primitive files are, but it seems like something is hard coded to prevent changes in the resolution parameter. I guess I could just change the resolution of the image so that it matches up with the resolution parameter in the yaml?

mintar commented 3 years ago

That error comes from sbpl_lattice_planner. It means that the motion primitive file (https://github.com/dfki-ric/mir_robot/blob/7d9c72942d512b191f2b326ca89c066710db4e34/mir_navigation/mprim/unicycle_highcost_5cm.mprim) has to match the map resolution (5cm).

You can either:

  1. Exchange the mprim file that's loaded here with one for your new map resolution, or:
  2. Make sure that the map resolution stays the same (5cm).