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ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments
BSD 3-Clause "New" or "Revised" License
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Is it necessary to have the "max_ground_height" #40

Closed fantasycenturay closed 1 year ago

fantasycenturay commented 1 year ago

As explained in the following code comment, it seems that the "max_ground_height" param is there to project "ground_height", "groud_dist" and "robot_height" to the same reference level surface. Why is this necessary? // Get the point on the ground at a heigh of // planning_params_.max_ground_height projected_edge_pt(2) -= (ground_height - planning_params_.max_ground_height);

MihirDharmadhikari commented 1 year ago

Sorry for the late reply. The max_ground_height is the height above the ground at which a vertex in the graph is projected to get before doing the collision checking.

fantasycenturay commented 1 year ago

Thanks for the explanation. I tested it on flat surface, it worked as explained and expected. I will do more tests on uneven surfaces today.