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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 build a global map #161

Closed eldenring998 closed 1 year ago

eldenring998 commented 1 year ago

hi,thank you for your great work，i tried https://github.com/HKUST-Aerial-Robotics/Fast-Planner/issues/35 modifying sdf_map/local_map_margin,but it does not work, because it is the field of view size that limits the size of the ESDF map, not this parameter. in https://github.com/HKUST-Aerial-Robotics/Fast-Planner/issues/60,the clearAndInflateLocalMap() function will not be called during simulation, so it is useless to modify it.The update of the map is done in the updateESDF3d() function. This function receives the point cloud information and updates it at high speed. It only publishes the map composed of the current point cloud. As long as the point cloud changes, the map will also change, and the map information of the previous frame cannot be retained. I don't know if my understanding is wrong，I tried many methods and still failed to build a global map. Looking forward to your reply.

eldenring998 commented 1 year ago

I have found a solution, just comment out lines 876-877 in the sdf_map.cc