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leggedrobotics / traversability_estimation

Traversability mapping for mobile rough terrain navigation
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Traversibility map initialization issue when using grid map recieved from a topic #79

Open rajeshAnt opened 1 year ago

rajeshAnt commented 1 year ago

I modified the robot.yaml file to generate the traversibilty map. I had set the grid_map_to_initialize_traversability_map: enable: true and i get the following error.

My modified robot.yaml file looks like this

submap_service: "/elevation_mapping/get_submap"
map_frame_id: "zed2i_base_link"     # Must be the same as the input elevation submap.
robot_frame_id: "zed2i_base_link"
min_update_rate: 0.2
map_center_x: 0.0
map_center_y: 0.0
map_length_x: 4.0
map_length_y: 4.0
footprint_yaw: 0.7854
max_gap_width: 0.3
grid_map_to_initialize_traversability_map:
  enable: true
  grid_map_topic_name: /elevation_mapping/elevation_map

this is the log from the terminal when I do roslaunch traversability_estimation traversability_estimation.launch

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15
 * /traversability_estimation/footprint/check_robot_inclination: False
 * /traversability_estimation/footprint/circular_footprint_offset: 0.15
 * /traversability_estimation/footprint/circular_footprint_radius: 0.541
 * /traversability_estimation/footprint/circular_footprint_radius_inscribed: 0.3
 * /traversability_estimation/footprint/footprint_frame_id: zed2i_base_link
 * /traversability_estimation/footprint/footprint_polygon: [[0.45, 0.3], [0....
 * /traversability_estimation/footprint/traversability_default: 0.3
 * /traversability_estimation/footprint/verify_roughness_footprint: False
 * /traversability_estimation/footprint_yaw: 0.7854
 * /traversability_estimation/grid_map_to_initialize_traversability_map/enable: True
 * /traversability_estimation/grid_map_to_initialize_traversability_map/grid_map_topic_name: /elevation_mappin...
 * /traversability_estimation/map_center_x: 0.0
 * /traversability_estimation/map_center_y: 0.0
 * /traversability_estimation/map_frame_id: zed2i_base_link
 * /traversability_estimation/map_length_x: 4.0
 * /traversability_estimation/map_length_y: 4.0
 * /traversability_estimation/max_gap_width: 0.3
 * /traversability_estimation/min_update_rate: 0.2
 * /traversability_estimation/robot_frame_id: zed2i_base_link
 * /traversability_estimation/submap_service: /elevation_mappin...
 * /traversability_estimation/traversability_map_filters: [{'name': 'surfac...

NODES
  /
    traversability_estimation (traversability_estimation/traversability_estimation_node)

ROS_MASTER_URI=http://localhost:11311

process[traversability_estimation-1]: started with pid [113840]
[ INFO] [1678119145.296485791]: Traversability Map started.
[ WARN] [1678119145.306103636]: Could not find the parameter: `algorithm`. Setting to default value: 'area'.
[ WARN] [1678119145.306145713]: Could not find the parameter: `parallelization_enabled`. Setting to default value: 'false'.
[ WARN] [1678119145.306167114]: Could not find the parameter: `thread_number`. Setting to default value: 'automatic'.
[ WARN] [1678119145.308437898]: Could not acquire parameter '/traversability_estimation/use_raw_map' from server. Parameter still contains '0'.
[ WARN] [1678119145.309274701]: Could not acquire parameter '/traversability_estimation/image_topic' from server. Parameter still contains '/image_elevation'.
[ WARN] [1678119145.309636658]: Could not acquire parameter '/traversability_estimation/resolution' from server. Parameter still contains '0.03'.
[ WARN] [1678119145.309881903]: Could not acquire parameter '/traversability_estimation/min_height' from server. Parameter still contains '0'.
[ WARN] [1678119145.310103919]: Could not acquire parameter '/traversability_estimation/max_height' from server. Parameter still contains '1'.
[ WARN] [1678119145.310322847]: Could not acquire parameter '/traversability_estimation/image_position_x' from server. Parameter still contains '0'.
[ WARN] [1678119145.310536739]: Could not acquire parameter '/traversability_estimation/image_position_y' from server. Parameter still contains '0'.
[ WARN] [1678119145.310938512]: Could not acquire parameter '/traversability_estimation/robot' from server. Parameter still contains 'robot'.
[ WARN] [1678119145.311148211]: Could not acquire parameter '/traversability_estimation/package' from server. Parameter still contains 'traversability_estimation'.
[ INFO] [1678119146.174859912]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: Traversability Map initialized using received grid map on topic '/elevation_mapping/elevation_map'.
[ WARN] [1678119147.160005063]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: received grid map message cannot be used to initialize the traversability map, because current traversability map has been already initialized.
[ERROR] [1678119147.160157769]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: It was not possible to use received grid map message to initialize traversability map.
[ WARN] [1678119148.159050728]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: received grid map message cannot be used to initialize the traversability map, because current traversability map has been already initialized.
[ERROR] [1678119148.159115333]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: It was not possible to use received grid map message to initialize traversability map.
[ WARN] [1678119149.159240127]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: received grid map message cannot be used to initialize the traversability map, because current traversability map has been already initialized.
[ERROR] [1678119149.159309522]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: It was not possible to use received grid map message to initialize traversability map.
[ WARN] [1678119150.159213962]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: received grid map message cannot be used to initialize the traversability map, because current traversability map has been already initialized.
[ERROR] [1678119150.159281484]: [TraversabilityEstimation::gridMapToInitTraversabilityMapCallback]: It was not possible to use received grid map message to initialize traversability map.

How do I disable gridmap initialization from the service and just use gridmap from the rostopic? Thanks for your help in advance :)

chenweigu commented 6 months ago

Hi. I had the same problem, did you solve it? @rajeshAnt