Map Resolution

[HY-W]

@linyicheng1 Are there parameters to adjust the map resolution？ I see start point and end point * 100 and + an offset in main.cpp. But I can't find such a parameter in teb_config.h that can change the map resolution. Is the resolution fixed? If not, where is it? Or how to change it?

[linyicheng1]

This depends on the map image used, as the image coordinate and the actual map coordinate need to be transformed somewhat when using images for visualization.

------------------ 原始邮件 ------------------ 发件人: @.>; 发送时间: 2021年12月21日(星期二) 下午3:41 收件人: @.>; 抄送: @.>; @.>; 主题: [linyicheng1/teb_local_planner] Map Resolution (Issue #3)

@linyicheng1 Are there parameters to adjust the map resolution？ I see start point and end point * 100 and + an offset in main.cpp. But I can't find such a parameter in teb_config.h that can change the map resolution. Is the resolution fixed? If not, where is it? Or how to change it?

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[HY-W]

Thanks for your reply! there is another question, when I set the obstacles.min_obstacle_dist and inflation_dist to a small value(0.00001), robot.min_turning_radius to 0.00001 . The trajectory is still far away from the obstacle point.
Also, the trajectory can't converge.