search

aldebaran / naoqi_navigation_samples

Contains samples for NAOqi navigation and exploration features. The samples are packaged into Choregraphe applications.
BSD 3-Clause "New" or "Revised" License
36 stars 17 forks source link

Exploration: cutting off the map #20

Open RoelofJ opened 7 years ago

RoelofJ commented 7 years ago

Hi there, We've been trying to map our own surroundings using the Explore behavior. We've blocked it to only map a very specific area which fairly straightforward: no big loops, mainly a corridor with three open spaces connected to the corridor. As I haven't measured the exact distance, I've set the explore script with the float '150' as radius to ensure that the entire area falls within the area scanned and I rely on the blocks to properly set the boundaries of the map.

However, the explore mode is stopping prematurely every time. I've copied a part of the errors that we see in the log viewer (for two different attempts, most logs are similar) and an image to show one of the maps that shows some cutting off. How does the exploration function decide what the boundaries of the map are and how can I best scan the area properly?

cuttoff_map explore_error.txt

lsouchet commented 7 years ago

The image looks weird, the exploration map should be at the right tablet size instead of being cropped. The text logs you sent do not provide enough information to know what is going on exactly. As for the boundaries of the map, the robot uses its base laser sensors to detect obstacle and build a map with it. When exploring, the robot remembers its starting point and if no more interesting area is detected closer than the radius, it stops.

Does it work for lower scale environment? Can you provide more logs?

Thanks

Krogsager commented 7 years ago

I've gotten cropped maps as well. I can't provide any logs at the moment though.

RoelofJ commented 7 years ago

I tried again to make a map and got a cutoff map again (see attached picture). I've downloaded the entire log file from Pepper which is attached as well.

I do have maps of smaller environments, but because we want to have Pepper move around a bit more we would like to use larger maps. I made pictures of the surrounding (to show you want I would like in the map), but it's too large for uploading here, so I'll send you those by email.

Interesting to note is that last time, Pepper said he was done exploring, but hadn't gone to all parts of of the map (but the open ended part was cut off). This time he hadn't scanned all parts either, but spend an enormous amount of time in the same corner (which was blocked).

log.zip cutoff_map

afridi26 commented 6 years ago

@RoelofJ Can you please share with me the pictures of the surrounding (to show you want I would like in the map), but it's too large for uploading here, so I'll send you those by email.

Can you send me how you make cognitive map for the room.

@RoelofJ I already follow this page how to perform the basic functionality http://doc.aldebaran.com/2-5/naoqi/motion/exploration-api.html

Thanks