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ethz-asl / mav_voxblox_planning

MAV planning tools using voxblox as the map representation.
BSD 3-Clause "New" or "Revised" License
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Planner : start position occupied error in traversable region. #34

Open nitin5 opened 5 years ago

nitin5 commented 5 years ago

Greetings, I am experiment ing with the package using the simulation environment. I am following the instructions as provided with the package. In some of the experiments, the planner returns the error that start position is occupied. This may be more of voxblox issue but resultant map do show that robot is in traversable region . I am attaching images for reference. Voxblox correctly identifies the walls on simulation environment. IMG_20190405_170420

![Uploading IMG_20190405_170420.jpg…]()

IMG_20190405_162631 IMG_20190405_162843 IMG_20190405_162505 How this error could be resolved? IMG_20190405_162603 There is a visible cavity in the view as well. If it is culprit, how it can be avoided as sensor must have seen this region? Also, how can local planner be influenced to add intermediate waypoints in plan?

LanWu076 commented 4 years ago

I had the same issue. Solved this problem by changing the position of the start position on the planning panel manually.

nvhungv2k commented 4 months ago

View solution at here