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osrf / mbzirc

Simulator for the MBZIRC Maritime Grand Challenge
Apache License 2.0
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Problems detecting vessels with 3d scanning radar #180

Open Mitchell-Torok opened 2 years ago

Mitchell-Torok commented 2 years ago

We have run into issues with the implementation of the mbzirc_naive_3d_scanning_radar. When mounted on the USV, it is only able to print out the distances and elevations to the beach and none of the vessels. For debugging, we overlaid the LIDAR in the simulator and it can be seen that the radar should be able to detect at least 4 of the closest vessels. Is the elevation increment and/or the max sample collection functioning correctly?

iche033 commented 2 years ago

checking to see if you're seeing this issue with values printed out by ros2 topic echo? It could be related to something I mentioned in this comment: https://github.com/osrf/mbzirc/pull/161#issuecomment-1167966473

We wrote a mini subscriber to print out the data and we're seeing more values compared to ros2 topic echo