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hrnr / m-explore

ROS packages for multi robot exploration
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Improper merging when robots have different orientations #70

Open phoenixrider12 opened 2 years ago

phoenixrider12 commented 2 years ago

I am using map merging with 2 real robots and my robots have different initial orientations. The launch file for multirobot_map_merge is as follows: Screenshot from 2022-06-24 16-24-59

Why the map merging is like this: Screenshot from 2022-06-24 16-18-46

If I keep the orientation same, then the merging is correct.

sandilyasg commented 1 year ago

@phoenixrider12 were you able to resolve this issue? If so, can you please post what you did. Thanks

phoenixrider12 commented 1 year ago

@phoenixrider12 were you able to resolve this issue? If so, can you please post what you did. Thanks

I did solve the issue but don't remember what I exactly did. First of all I was not able to do merging with unknown initial positions. I was only able to do it with known initial positions and there also I mentioned the x,y drift between both the robots but didn't mention the yaw difference between them This was my launch file which worked: https://github.com/phoenixrider12/Multi-VOLTA-Exploration-and-Dynamic-Map-Updates/blob/main/map_merge/launch/map_merge.launch

sandilyasg commented 1 year ago

@phoenixrider12 Thanks for your reply. I am running it with known initial positions. I tried to use the x,y drift between both the robots but somehow it made the merging worse -- I am looking into bugs related to the package itself in the following links: https://github.com/hrnr/m-explore/issues/15 https://github.com/hrnr/m-explore/issues/12