Open HangX-Ma opened 2 years ago
Alternatively, I had tried dynamicEDT3D
to build the tree by hand. And I use the setNodeValue
to update the obstacle information. It seemed to be correct somehow. I need to check further because some errors happened when using my planner .
Hi, I want to realize the obstacle avoidance function for robot path planning. In the following codes I set a threshold for occupancy state . If
getOccupancy()
return a value larger than 0.5, this node will be regard as an obstacle.I also use
treeNode->setLogOdds()
function to update the node occupancy value. If the manipulator can not reach this node or it collides the obstacle at this node. [Note]: I use a planning algorithm similar to A-star, based on Node.However, the
![all voxel](https://s3.bmp.ovh/imgs/2022/04/05/c4c258eb3754b911.png)
Rviz
shows a wrong phenomenon. The first picture shows my initial planned path cross through the obstacle. So I check theall voxel
and find where the planned path cross through is empty. Is that normal? If I use theMoveit
embeded planner, it can plan a safe path for the manipulator. Can you help me to figure out why this happens? @ahornung