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ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments
BSD 3-Clause "New" or "Revised" License
667 stars 152 forks source link

Custom Maps for indoor simulations #45

Closed ta-jetson closed 8 months ago

ta-jetson commented 8 months ago

Hi, I am trying to simulate the gbplanner sim for a custom indoor environment that I have created with Gazebo. I made the world file model and replaced the world file name in the launch file. The Gazebo sim and drone spawn correctly but nothing comes up in rviz and the planner interface is unresponsive and getting the following error: "put pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long." the following is the gazebo environment created [name modified to .txt to upload]

hey I was able to get it working with the custom world. I had missed the ros_gazebo_plugin command.

MihirDharmadhikari commented 8 months ago

Hi @ta-jetson ,

Yes, I was about to suggest the same that you were missing the ros_gazebo_plugin. Glad to hear that it worked.

Best, Mihir