Setting frame_id to "map" does not work

[PhilipAmadasun]

When I change frame-id in example_polygon_epfl_simple.yaml to "map", I still get Global status error when I launch coverage_planner.

[rikba]

Can you elaborate on this error? E.g. print the terminal output?

[PhilipAmadasun]

I dont think this the terminal would show any useful information but here it is:

SUMMARY
========

CLEAR PARAMETERS
 * /coverage_planner/

PARAMETERS
 * /coverage_planner/a_max: 1.0
 * /coverage_planner/cost_function_type: 1
 * /coverage_planner/decomposition_type: 0
 * /coverage_planner/latch_topics: True
 * /coverage_planner/lateral_footprint: 1.0
 * /coverage_planner/lateral_fov: 0.84
 * /coverage_planner/lateral_overlap: 0.6
 * /coverage_planner/offset_polygons: False
 * /coverage_planner/polygon/header/frame_id: map
 * /coverage_planner/polygon/header/seq: 0
 * /coverage_planner/polygon/header/stamp/nsecs: 0
 * /coverage_planner/polygon/header/stamp/secs: 0
 * /coverage_planner/polygon/polygon/hull/points: [{'y': 1.11005538...
 * /coverage_planner/publish_plan_on_planning_complete: True
 * /coverage_planner/publish_visualization_on_planning_complete: True
 * /coverage_planner/sensor_model_type: 1
 * /coverage_planner/set_polygon_from_rviz: True
 * /coverage_planner/set_start_goal_from_rviz: True
 * /coverage_planner/sweep_single_direction: False
 * /coverage_planner/v_max: 3.0
 * /coverage_planner/wall_distance: 0.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    coverage_planner (polygon_coverage_ros/coverage_planner)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [4980]
process[coverage_planner-2]: started with pid [4981]
[ WARN] [1658822974.002192649]: XML RPC has no key: holes
[ WARN] [1658822974.003098516]: Missing or non-array holes member. Resetting to default
[ INFO] [1658822974.003189963]: Setting polygon altitude height to first z variable: 0
[ INFO] [1658822974.003371109]: Successfully loaded polygon.
[ INFO] [1658822974.003391606]: Altitude: 0 m
[ INFO] [1658822974.003414460]: Global frame: map
[ INFO] [1658822974.003460317]: Polygon:6 1.51517 1.62291 -0.762063 2.27822 -2.31212 10.1823 -1.38714 -1.65559 0.944123 -1.82522 1.6803 1.11006  0 
[ INFO] [1658822974.003885637]: Wall distance: 0 m
[ INFO] [1658822974.004766456]: Cost function: Time
[ INFO] [1658822974.004790035]: v_max: 3, a_max: 1
[ INFO] [1658822974.014125488]: Sending visualization messages.
[ WARN] [1658822974.014208467]: Cannot send solution visualization because plan has not been made.
[ WARN] [1658822974.017139036]: Altitude to small 0.000m. Please set altitude through first z-value of polygon. Setting default altitude of 1m.
[ INFO] [1658822974.017202375]: Sensor model: frustum
[ INFO] [1658822974.017233533]: Lateral FOV: 0.84
[ INFO] [1658822974.017252575]: Altitude: 1
[ INFO] [1658822974.017270823]: Lateral overlap: 0.6
[ INFO] [1658822974.017284231]: Sweep distance: 0.357258
[ INFO] [1658822974.017763872]: Sweep single direction: 0
[ INFO] [1658822974.017790316]: Reset planner.
[ INFO] [1658822974.017803638]: Sensor model: frustum
[ INFO] [1658822974.017817994]: Lateral FOV: 0.84
[ INFO] [1658822974.017830955]: Altitude: 1
[ INFO] [1658822974.017841169]: Lateral overlap: 0.6
[ INFO] [1658822974.017853840]: Sweep distance: 0.357258
[ INFO] [1658822974.017903652]: Start creating sweep plan graph.
[ INFO] [1658822974.025838331]: Successfully created boustrophedon decomposition with 1 polygon(s).
[ INFO] [1658822974.101797759]: Created sweep plan graph with 6 nodes and 0 edges.
[ INFO] [1658822974.101827177]: Initially created 20 nodes.
[ INFO] [1658822974.101834928]: Pruned 14 nodes.
[ INFO] [1658822974.101961809]: Finished creating the sweep planner.

On the RVIZ I see "GLobal Status:Error(Fixed Frame - Fixed Frame [world] does not exist", "TF: Status: Warn". I dont know how to share a picture here unfortunately.

[rikba]

The RVIZ TF status: Warn usually occurs if one component is publishing a message in a TF tree that is not linked to your visualized fixed frame. Make sure to define one fixed_frame that all messages can be visualized in. It does not matter whether this frame is called "map" or "world".

Here for example I run the coverage planner with a "world" frame polygon and it is displayed sucessfully:

In your example the fixed frame should be selected as map.

You can make a screenshot in RVIZ via File->Save Image