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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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SDF map removes obstacles out of FOV #70

Closed haolong12321 closed 3 years ago

haolong12321 commented 3 years ago

Hi and thanks again for this great package.

I'm running the kino_replan using my own depth camera. When obstacles get out of FOV they are being removed from SDF map and the algo "forgets" them. Is there any way to extend the range that the algo is keeping SDF map data?

Thanks ahead.

ZbyLGsc commented 3 years ago

Pls refer to this issue: https://github.com/HKUST-Aerial-Robotics/Fast-Planner/issues/60

haolong12321 commented 3 years ago

Do you mean that the way to extend SDF map data range is to comment out lines 645-708 in sdf_map.cpp (clear data outside the local range)?

liuzhenboo commented 3 years ago

Hi and thanks again for this great package.

I'm running the kino_replan using my own depth camera. When obstacles get out of FOV they are being removed from SDF map and the algo "forgets" them. Is there any way to extend the range that the algo is keeping SDF map data?

Thanks ahead.

<param name="sdf_map/local_map_margin" value="500"/> you can set the param bigger!

EhrazImam commented 2 years ago

@haolong12321 Hi, Hope you are fine i wanna know how you are adding your own depth camera what changes you made to run it.. thankyou hoping for your reply