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ZJU-FAST-Lab / EGO-Planner-v2

Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"
GNU General Public License v3.0
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occupancy grid not updating #9

Closed shubham-shahh closed 2 years ago

shubham-shahh commented 2 years ago

Hi @bigsuperZZZX, I have one question. I tested ego-planner-v2 with point cloud data in the real world. after running the planner for some time, the occupancy grid is not updated, it says the drone is in a obstacle and can be visualised in Rviz, but in real world, there are no obstacles, and if I restart the planner, it works, and the grid is updated. below I've attached a picture. can you please tell me, the probable cause for this problem? Screenshot from 2022-07-18 16-37-29 Screenshot from 2022-07-18 18-10-15

bigsuperZZZX commented 2 years ago

Maybe your drone stays too close to an obstacle. Therefore the resolution error may cause this problem.

shubham-shahh commented 2 years ago

Maybe your drone stays too close to an obstacle. Therefore the resolution error may cause this problem.

Hi @bigsuperZZZX, thanks for the response I can confirm that the drone was not close to the obstacle, as you can see in the raw point cloud on the left. what is resolution error?

thanks