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hasauino / rrt_exploration

A ROS package that implements a multi-robot RRT-based map exploration algorithm. It also has the image-based frontier detection that uses image processing to extract frontier points.
http://wiki.ros.org/rrt_exploration
MIT License
513 stars 180 forks source link

No frontier point is detected #8

Closed GuillermoROS closed 4 years ago

GuillermoROS commented 5 years ago

Hello,

Once I have followed all the steps indicated on the website to use the RRT exploration algorithm in turtlebot 2, everything runs correctly without giving any error (see attached photos), but the frontier points are not detected. However, I proceeded to make a rostopic echo /detected_points and effectively no information arrived.

To make sure I wasn't doing anything wrong, I installed the rrt_exploration_tutorials package along with the rest of the requirements. I followed all the steps you indicate on the web ( http://wiki.ros.org/rrt_exploration/Tutorials/singleRobot_exploration/Tutorials/singleRobot) and It didn't detect any points either.

Could you please tell me what this may be due to?

Thank you very much in advance

Pd: we are using an Nvidia Jetson TX2

rrt_exploration_1 rrt_exploration_2 rrt_exploration_3

hasauino commented 5 years ago

Hi, sorry for the late reply. Can you show me the list of topics, and list of nodes.

GuillermoROS commented 5 years ago

Hello, I'm also sorry for the delay. I've been away for few days so I couldn't answer until today. Attached are photos of the lists you asked for. Thanks! rosnode_list rostopic_list_1 rostopic_list_2

ZwoeleMan commented 5 years ago

Hi! Exactly the same issue here; costmap is correct and visually, the algorithm is clearly detecting frontiers as the RRT is progressing and stopping at known map boundaries. However, nothing is published on /detected_points.

The issue is present on both the global, local and opencv detector.

Are there any workarounds available atm?

danyialkhan commented 4 years ago

Hi! I have the same issue here, frontier points are not detected, as you can see here Other nodes are working fine, like gmapping, move base and map merge. I am using hector quadrotor package. I do not know what to do next, please guide me through this problem.

hasauino commented 4 years ago

@MuhammadDanyialKhan sorry for the late reply, did you figure out the problem? if not, did you publish the five points that declare the region of exploration and the start point for the global detector?

davidlmljll commented 1 year ago

The ObstacleFree function in functions.cpp uses the char type to determine map occupation. On embedded TX2, the char type is unsigned, so the boundary values returned by the detector are all 0, and the boundary points cannot be detected!