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leggedrobotics / art_planner

Local Navigation Planner for Legged Robots
BSD 3-Clause "New" or "Revised" License
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Unable to plan a path on the elevation map #17

Open umsarmy opened 10 months ago

umsarmy commented 10 months ago

Hello

I am able to publish the elevation map on the /elevation_map_raw topic using elevaton_mapping pkg. However when I am launching the art_planner.launch, I am getting the following error.

Please help me to resolve the issue. Thanks

Screenshot from 2024-01-15 15-49-20

Rviz Screenshot: Screenshot from 2024-01-15 15-48-00

Goal Published on /art_planner/plan_to_goal/goal topic: Screenshot from 2024-01-15 15-50-19

My params.yaml

params.txt

ghost commented 9 months ago

@umsarmy How did you build ode?

lorenwel commented 2 months ago

Hi @umsarmy. It appears that your height map is too small to be used with the prm_motion_cost version of the planner. It requires a certain height map size to properly do CNN inference. Please increase your height map resolution or use the lazy_prm_star_min_update version of the planner.