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NVIDIA-ISAAC-ROS / isaac_ros_map_localization

NVIDIA-accelerated global localization
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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ERROR : Got a scan that has FOV 106 smaller that threshold 270 #17

Open sandeepdutta opened 1 year ago

sandeepdutta commented 1 year ago

Hello , I have been exploring the use of this package. I am getting the following error. ERROR extensions/localization/flatscan_localization/grid_search_localizer.cpp@306: Got a scan that has FOV 106.000000 smaller than threshold 270.000000, ignoring this scan.

My scans are clipped not to see the back of the robot , ~300 FOV. The angle ranges in the flat scan does look right from -3.0 to + 3.1. Sandeep

ashwinvkNV commented 1 year ago

It looks like the FOV is computed to be 106 from the FlatScan msg. Can you please post the FlatScan msg for this error comes up?

Note: min_scan_fov_degrees parameter here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_map_localization#ros-parameters

sandeepdutta commented 1 year ago

Hello Ashwin, Is there a way to capture the scan that caused the problem ? If I capture all scans it will be large. Sandeep

ashwinvkNV commented 1 year ago

If you can provide a small rosbag + map(.png+.yaml) and launch file, I can try to reproduce this on my end. Then I look into it this issue further.

sandeepdutta commented 1 year ago

sorry about the delay .I have attached a rosbag and the map. Please let me know if you anything else to reproduce. rosbag.zip upper_corridor "map.yaml" image: upper_corridor.png mode: trinary resolution: 0.05 origin: [-2.94, -1.64, 0] negate: 0 occupied_thresh: 0.65 free_thresh: 0.25