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open-rmf / rmf_obstacle

Packages that infer the presence of obstacles from sensor inputs.
Apache License 2.0
6 stars 9 forks source link

rmf_visualization is not working #13

Closed eeoon closed 10 months ago

eeoon commented 1 year ago

Before proceeding, is there an existing issue or discussion for this?

Description

hello, i use the free-fleet. so i want to obstacle avoidance like your open_source(obstacle_detectors). the robot's tf and rmf_task is right so the robots move follow rmf core. I am testing the robot in various ways, and since I used nav2 pkg, it is obvious, but I confirmed that if there is an obstacle at the waypoint, the robot has a problem, and if there is an obstacle in the path, it avoids it.

so i challenge when the robot follow waypoints with nav2, obstacle was be there so next step the rmf_core is make new nav_graphs for avoid the obstacle. but the first error, the obstacle not visualize like your open_source example video. if the obstacle visualization is good, the second step, how to make new nav_graph for avoid the obstacle about robot?

image

Jerrybaoyilei commented 8 months ago

@eeoon Hi there, may I ask how you got the blue laser scans to work in Gazebo? I am trying to achieve what the gif on rmf_obstacle's readme file is showing for the rmf_obstacle_detector_laserscan package (i.e., show the laser scans).

Currently, when I run the command ros2 run rmf_obstacle_detector_laserscan laserscan_detector, there are no LaserScan messages and I don't see any lasers in Gazebo. Thank you!

eeoon commented 8 months ago

@Jerrybaoyilei Hi, I am researching rmf so my answer is not correct. Firstly, the Gazebo environment is a plugin for sensors like Lidar, Camera, IMU, etc. So in Gazebo I use Lidar sensors and visualizations like blue_lay. It would be a good idea to refer to Gazebo. Gazebo_Tutorial. And I wanted to get information about the robot's distance from the Lidar. So I get the values ​​for the obstacle coordinates from the robot (x,y). Next, combine this package (rmf_obstacle_Detector). I am challenging this.

Jerrybaoyilei commented 7 months ago

Hi @eeoon , thank you for the reply! I added a LiDAR model into the simulation and I have the laser scan. Thanks for the help!