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Neidr4 / ptdr_stage

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rrt_exploration package integration #11

Open Neidr4 opened 3 years ago

Neidr4 commented 3 years ago

The type of exploration needs to be done with the rapidly random tree algorithm. The use of the rrt_exploration package is recommended.

The rrt_exploration package should make the three robots explore in a coordinate manner without overlapping discover areas. The program should be complete when the environment has been totally explored.

Neidr4 commented 3 years ago

A problem has occur. The behavior of the robots when receive the command from the rrt_exploration package is strange. The robot are clearing costmap and not going to the point. Here's a list of reason why this could happen:

  1. The values sent by the rrt_exploration package are not inside a free cell of the costmap (undiscovered of occupied).
  2. The actionlib is not working properly.
Neidr4 commented 3 years ago
  1. The values sent by the rrt_exploration package are not inside a free cell of the costmap (undiscovered of occupied).

1.1 The position of the map is wrong ↳ Position of the map_merge topic is good but not the map with the individual robots 1.2 The AMCL is send wrong values about the robot pose ↳ Just by looking at the robot_pose topic, the values seems consistent

Neidr4 commented 3 years ago
  1. The actionlib is not working properly.

2.1 Test the manually the values sent by rrt ↳ Doesn't go. Freeze. ↳ Problem with position of the goals. 2.2 Try to send the values to robot_n//move_base_simple/goal ↳The robot, doesn't even try to go there. Just freezes.

Neidr4 commented 3 years ago

A lot of dteh problem have been resolved when I understood that a "/" before the name of the topic didn't remove the namespace. A lot of bug have been corrected that way.

Neidr4 commented 3 years ago

After close observation of the goals, I noticed they're arn't always on a discovered cell. I'm now try to check the cells close to the close to fetch a correct goal

Neidr4 commented 3 years ago

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