Closed anayghatpande closed 1 year ago
Try cyclone dds
I am already using it. but I checked with environmental variables are set for cyclone dds properly and those are also fine. so no problem with that. :( Just a doubt I am using the ubuntu 22.04 in docker container that should not be a problem right?
Doe the normal voxel layer work for you if used instead in your costmap configuration?
Now I tried the above given configuration on turtlebot3 navigation, but it seems there are no problems in setting the stvl layer configurations there... but I am still struggling on making it work on my custom robot as I have segregated the file from all parameters of nav2_params.yaml for different use cases. eg. amcl.yaml ,slam.yaml, etc. So Currently debugging the issue which parameter is affecting the actual working of stvl layer. If you suggest which crucial parameters may affect this (in general dependent)? I will update as soon as I can make it work.
I tried the normal voxel layer as well but it does not work as well in my case.
The only obvious things are the topic names that are aligned to the actual topics + that your custom robots TF tree has the necessary transformations available for STVL to transform the data in a global frame for buffering into the sparse voxel grid
Just for the update:
The issue was from gazebo plugin for Camera D435 for not able to publish voxel grids. I am working on fixing the plugin. Right now with real camera the STVL works but it reduces overall updating the point cloud publishing from the camera. Because otherwise camera works fine without enabling STVL. Is there any setting that can decrease the publishing rate of point clouds from STVL? Because without stvl layer it publishes above 10Hz and after initialization stvl it changes to 0.5Hz Due to which I am facing issue while updating local and global cost maps as, I am updating them at 10Hz frequency but the voxels are not formed on the same rate due to suppression of data rate from camera point cloud. If there are externally adjustable parameters from ros2 params would be beneficial otherwise I will debug the scripts for this. Thanks in advance! @SteveMacenski
I have successfully setup the configuration and fixed all dependency installations. I have followed all the process written in the GitHub page of STVL.
This is the launch file ros log for reference :
Please can somone suggest me in which direction I should debug this problem? or any possible suggestions where may be I am missing something in the configuration? Thanks in advance.