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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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D435i integration with gbplanner sim #46

Open ta-jetson opened 5 months ago

ta-jetson commented 5 months ago

HI, I am trying to integrate a D435i with the gbplanner sim. I have already tried changing the FOV and resolution in gbplanner_config.yaml as you had suggested in a earlier post. SensorParams: sensor_list: ["OS064"] OS064: type: kCamera CameraType: kFixed max_range: 2.0 center_offset: [0.0, 0.0, 0.0] rotations: [0, 0, 0] fov: [rad(85pi/180), rad(60pi/180)] resolution: [rad(7pi/180), rad(7pi/180)]
frontier_percentage_threshold: 0.04 The simulation runs without issues but the point cloud viz on rviz is still a 360 degree FOV depth map like: image How do i proceed to include D435i with the simulations for testing.