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HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
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How to save more ESDF map #121

Open Kevinlibaba opened 3 years ago

Kevinlibaba commented 3 years ago

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

DeveloperFuloo commented 1 year ago

Besides comment line 652-722 in sdf_map.cpp, i comment line 729-733 line in sdf_map.cpp that commented clear outdated data,it will save the global map

eldenring998 commented 1 year ago

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Kevinlibaba commented 1 year ago

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Hi @eldenring998, it didn't run for me, sorry I can't help you.

eldenring998 commented 1 year ago

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Hi @eldenring998, it didn't run for me, sorry I can't help you.

hello，I seem to have succeeded. In addition to the operations you mentioned above, you also need to delete lines 876-877 in sdf_map.cpp. In the program, occupancy_bufferinflate stores point cloud data, and the code on lines 876-877 will delete the point cloud in occupancy_buffer_inflate that is outside the update range.

DeveloperFuloo commented 1 year ago

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Hi @eldenring998, it didn't run for me, sorry I can't help you.

hello，I seem to have succeeded. In addition to the operations you mentioned above, you also need to delete lines 876-877 in sdf_map.cpp. In the program, occupancy_bufferinflate stores point cloud data, and the code on lines 876-877 will delete the point cloud in occupancy_buffer_inflate that is outside the update range.

hi， @eldenring998 ,let me confirm the location of the code you mentioned, do you mean the resetBuffer function?

eldenring998 commented 1 year ago

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Hi @eldenring998, it didn't run for me, sorry I can't help you.

hello，I seem to have succeeded. In addition to the operations you mentioned above, you also need to delete lines 876-877 in sdf_map.cpp. In the program, occupancy_bufferinflate stores point cloud data, and the code on lines 876-877 will delete the point cloud in occupancy_buffer_inflate that is outside the update range.

hi， @eldenring998 ,let me confirm the location of the code you mentioned, do you mean the resetBuffer function?

yes，As long as the resetBuffer function is prevented from deleting data, all map data will be retained