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leggedrobotics / art_planner

Local Navigation Planner for Legged Robots
BSD 3-Clause "New" or "Revised" License
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How to Use artplanner with Differential drive Robots? Unable to plan path on elevation Map- Error: LazyPRMstar: There are no valid initial states! #19

Open Vikash-iitd opened 8 months ago

Vikash-iitd commented 8 months ago

Hi, I want to use art planner for differential drive robots. I am getting elevation map from elevation mapping cupy package and it looks fine. However, I am not able to plan a path on elevation_map using LazyPRMstar . I also tried RRTStar as well on elevation_mapping. it is showing error Error: LazyPRMstar: There are no valid initial states! .

The following is what I have tried as of now:

  1. I am using elevation_mapping_cupy to generate elevation map. output of this package looks okay.
  2. I am supplying Elevation map to art planner. With the help of rviz, I am setting a goal pose but it is unable to plan a path. it throws error by saying " Error: LazyPRMstar: There are no valid initial states!" .
  3. I tried using a different package on a 2D costmap algorithm LazyPrmStar and RRTStar works fine and I am able to plan a path on that.
  4. I am using same ODE package provided with art planner.

I have read issues as well regarding which says that robot should be on elevation_map. It should be able to plan a path then.

I am new to this package , I tried all the things mentioned in earlier issues. Can you guide me that how to use this package for differential drive robots? What all parameters I should change to make it work for differential drive robots?

koczkaandre commented 4 months ago

Hi! Did you manage to solve this? I am running into the same issue

lorenwel commented 3 months ago

This error indicates that there is likely a parameter misconfiguration which leads to improper collision checking. Please make sure you adjust the robot values in the config. You can also visualize the collision bodies in RVizi under the /art_planner/collision_boxes topic.

Please note that this planner is explicitly designed for omnidirectional legged robots. You can somehow hack the lazy_prm_start_min_update planner to do something but this is not advisable.