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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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want to save more maps #35

Closed youngjae41 closed 4 years ago

youngjae41 commented 4 years ago

The default param only saves a little map and disappears quickly. If you increase the deth scaling factor, does it store more maps?

ZbyLGsc commented 4 years ago

@skyaid There are two things you should be aware of: (1) the map only keeps data within an area around the current FOV. (2) only part of the kept data is visualized in RVIZ (to reduce the burden of visualization).

Therefore if you want to see more map, you should: (1) increase the area of local map, by setting a larger 'sdf_map/local_map_margin'. (2) In visCallback, set publishMapInflate(true), which will display all map data in RVIZ;