RoboJackets / igvc-software

The code base for the RoboNav team's IGVC robot.

https://robojackets.org/teams/robonav/

MIT License

91 stars 120 forks source link

Fix/traversability ghost obstacles #892

Open VAM7686 opened 2 years ago

VAM7686 commented 2 years ago

Description

Fixes ghost obstacles in traversability layer by applying morphological transforms.

This PR does the following:

Fixes ghost obstacles in traversability layer

Fixes #836

Testing steps (If relevant)

Test Case 1

Run roslaunch igvc_gazebo ramp_lane.launch
Run roslaunch igvc_navigation navigation_simulation.launch

Expectation: Robot able to navigate over ramp smoothly without any ghost obstacles.

Self Checklist

[x] I have formatted my code using make format
[x] I have tested that the new behaviour works