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ethz-asl / nbvplanner

A real-time capable exploration and inspection path planner (next best view planning)
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Exceeding maximum failed iterations, return to previous point! #32

Closed Zyhlibrary closed 2 years ago

Zyhlibrary commented 2 years ago

When i run the demo (flat_exploration), the planner can initialize, but after initialization, it could not plan and reported "Exceeding maximum failed iterations, return to previous point!" as follows in each iteration.

[ INFO] [1638969669.122324849, 63.523000000]: Starting the planner: Performing initialization motion [ INFO] [1638969686.898799717, 75.530000000]: Planning iteration 0 [ INFO] [1638969688.467290489, 76.607000000]: Exceeding maximum failed iterations, return to previous point! [ INFO] [1638969689.964621217, 77.608000000]: Planning iteration 1 [ INFO] [1638969691.555007969, 78.660000000]: Exceeding maximum failed iterations, return to previous point! [ INFO] [1638969693.092617836, 79.660000000]: Planning iteration 2 [ INFO] [1638969694.734058334, 80.765000000]: Exceeding maximum failed iterations, return to previous point!

Anyone met the same issue before? Thanks a lot.

Mediumcore commented 2 years ago

Hello,I met the same issue when i set resolution from 0.4 to 0.1 : [ INFO] [1647413810.627467253, 185.880000000]: Starting the planner: Performing initialization motion [ INFO] [1647413822.629511693, 197.880000000]: Planning iteration 0 [ INFO] [1647413823.307989306, 198.550000000]: Exceeding maximum failed iterations, return to previous point! [ INFO] [1647413824.299696295, 199.550000000]: Planning iteration 1 [ INFO] [1647413825.004284673, 200.250000000]: Exceeding maximum failed iterations, return to previous point!

I want to set resolution smaller such as 0.1 ,but the error exceeding maximum failed at the Planning iteration 0. How did you tackle this issue, thanks for help.

Zyhlibrary commented 2 years ago

Hello,I met the same issue when i set resolution from 0.4 to 0.1 : [ INFO] [1647413810.627467253, 185.880000000]: Starting the planner: Performing initialization motion [ INFO] [1647413822.629511693, 197.880000000]: Planning iteration 0 [ INFO] [1647413823.307989306, 198.550000000]: Exceeding maximum failed iterations, return to previous point! [ INFO] [1647413824.299696295, 199.550000000]: Planning iteration 1 [ INFO] [1647413825.004284673, 200.250000000]: Exceeding maximum failed iterations, return to previous point!

I want to set resolution smaller such as 0.1 ,but the error exceeding maximum failed at the Planning iteration 0. How did you tackle this issue, thanks for help.

Maybe the issue is caused by the map, you can check the process of map building.

Mediumcore commented 2 years ago

OK, Thank you very much