search

ZJU-FAST-Lab / ego-planner

GNU General Public License v3.0
1.41k stars 281 forks source link

How to display all the esdf maps during the flight like video and indoor.gif? #13

Closed Robinaoko closed 3 years ago

Robinaoko commented 3 years ago

When I run the demo, I can only dispaly the esdf map around the UAV. How can I display all the esdf maps during the flight like video and indoor.gif?

bigsuperZZZX commented 3 years ago

First, the map you see is grid map, not esdf map. If you want to display the whole map, you can enlarge the parameter "grid_map/local_map_margin" in advanced_param.xml, which infers the grid size to be displayed. But I have to remind you that map display requires a lot of computation, so we only record a small local map during the flight and wrote a new node to display it Incrementally offline.

Robinaoko commented 3 years ago

OK,many thanks for your help!

1997-X commented 1 year ago

Can you explain in detail how the map shows your realization? Look forward to your reply！！！！

bigsuperZZZX commented 1 year ago

Maybe this callback function is what you want: https://github.com/ZJU-FAST-Lab/ego-planner/blob/fcdfc5419dcc0c93105803e6f60b1b08b4e5152d/src/planner/plan_env/src/grid_map.cpp#L646