Closed GeorgiosGkovo closed 1 year ago
@GeorgiosGkovo can you test the patch in https://github.com/SteveMacenski/spatio_temporal_voxel_layer/pull/226 that is applied to ROS 2? It looks like I didn't backport this to ROS 1. Admittedly, I don't think much about ROS 1 anymore so that's an understandable accidental omission :disappointed_relieved:
If that patch works for you (and submitting a PR with those changes would be nice!) I can run a release.
@SteveMacenski I tried the suggested fix and it appears to solve my issue. I will submit a PR as soon as possible.
Hello, Using the STVL plugin I noticed a slight misalignment in Rviz between between the costmap cells classified as LETHAL, the voxel positioning and the actual points of the obstacle detected by the lidar sensor. I am attaching a photo showcasing the mismatch along with the parameters I am using for the layer. Note that, the issued is persistent in the entirety of the map, my photo showcases jst one location where the issue can be observed. The main issue is that the resulting costmap used for obstacle avoidance is wrong and can potentially cause problems. I managed to fix the issue by translating the underlying grid by half a voxel in all directions to make voxels and and costmap aligned. I also used rounding after the
WorldToIndex
function to align the observed points with the created voxels, which seems to work. I am not sure whether this is an issue experienced by others or if there is some issue with my setup. I am using ROS Noetic.