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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
453 stars 135 forks source link

Can't visualize map #82

Open son-youngwoo opened 1 year ago

son-youngwoo commented 1 year ago

Hello, First of all, thank you for opening the source code. I think this algorithm is very useful for may researches. I'm trying to implement this algorithm, but I can't visualize map in the rviz.

image

I'm following tutorials, but I can't find TF data like above figure. And this is my launch file.

May I ask for your help?

<launch>

<arg name="voxblox_path" default="/home/son/Documents/mav_voxblox_planning_maps/machine_hall/voxblox/rs_esdf_0.10.voxblox" />
 <arg name="frame_id" default="map" />

  <node name="voxblox_rrt_planner" pkg="voxblox_rrt_planner" type="voxblox_rrt_planner_node" output="screen">
    <param name="voxblox_path" value="$(arg voxblox_path)" />
    <param name="visualize" value="true" />
    <param name="robot_radius" value="0.5" />
    <param name="tsdf_voxel_size" value="0.10" />
    <param name="tsdf_voxels_per_side" value="16" />
    <param name="update_mesh_every_n_sec" value="0.0" />
    <param name="num_seconds_to_plan" value="5.0" />
    <param name="frame_id" value="$(arg frame_id)" />
    <param name="world_frame" value="$(arg frame_id)" />
    <param name="trust_approx_solution" value="true" />
    <param name="publish_traversable" value="true" />
    <param name="split_at_collisions" value="true" />
    <param name="optimize_time" value="true" />
    <param name="verbose" value="true" />
  </node>

</launch>
Que121 commented 8 months ago

maybe you can try to change the Fixed frame by 'odom' instead of 'map' @son-youngwoo