How to deal with dyanmic objects in the environments.

ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments

BSD 3-Clause "New" or "Revised" License

648 stars 147 forks source link

How to deal with dyanmic objects in the environments. #29

Open TurtleZhong opened 1 year ago

TurtleZhong commented 1 year ago

Hi, the moving object (like people)would easily remain on the borderlines of point clouds when I generated the TSDF data. The result of this is that when the person walks away, the robot thinks that there is still an obstacle, which in turn affects the path of autonomous exploration. Is there a way to solve this problem? Thanks!

MihirDharmadhikari commented 1 year ago

Hi @TurtleZhong ,

This can be fixed by increasing this parameter in the voxblox_config_file. Set it somewhere around 0.5 - 0.7. Let me know if it helps.

Best regards, Mihir