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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
474 stars 138 forks source link

voxblox_rrt_planner with estf or tsdf #73

Open yun-lai-yun-qu opened 3 years ago

yun-lai-yun-qu commented 3 years ago

Thank u for the wonderful repo, I tried to build roslaunch voxblox_rrt_planner rrt_saved_map.launch ,however got a message in this part: Layer type of the loaded map is: esdf but the current map is: tsdf check passed? 0

setting /run_id to 530f3164-d87e-11eb-bb73-000c291b6303 process[rosout-1]: started with pid [128209] started core service [/rosout] process[voxblox_rrt_planner-2]: started with pid [128224] I0629 10:04:24.996420 128224 tsdf_server.cc:575] Successfully loaded TSDF layer. W0629 10:04:24.996757 128224 layer_inl.h:245] Voxel size of the loaded map is: 0.1 but the current map is: 0.1 check passed? 1 VPS of the loaded map is: 16 but the current map is: 16 check passed? 1 Layer type of the loaded map is: esdf but the current map is: tsdf check passed? 0 Are the maps using the same floating-point type? 1 [ INFO] [1624932265.308767681]: Size: 0.100000 VPS: 16 [ INFO] [1624932265.576534380]: Mesh Timings: SM Timing

mesh/generate 1 00.202106 (00.202106 +- 00.000000) [00.202106,00.202106] mesh/publish 1 00.028598 (00.028598 +- 00.000000) [00.028598,00.028598]

sherrypixel commented 1 week ago

Hey, I a facing the exact same issue. Were you able to figure out how to fix it? @yun-lai-yun-qu ? @alexmillane Thanks for the project!!!