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gt-marine-robotics-group / Virtuoso

ROS2 autonomy architecture for Georgia Tech Marine Robotics. Designed to be modular and work with any combination of sensors + motors.
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10 21 test debugging #141

Closed mroglan closed 1 year ago

mroglan commented 1 year ago

During the 10/21 lake test euclidean clustering was not working. There were 2 problems:

  1. Incorrect parameter name for the ground filter
  2. Voxel grid leaf size was too small, rendering the filtering useless and overwhelming the euclidean clustering

Fixes have been made to parameters and, based on bagged data, appear to be resolved.