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osrf / mbzirc

Simulator for the MBZIRC Maritime Grand Challenge
Apache License 2.0
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Downward lidar configured in slot7 will through the ground when uav on the ground. #202

Open LvJohny opened 2 years ago

LvJohny commented 2 years ago

When the drone lands on the ground, the downward lidar configured in slot7 will pass through the ground. Here are three comparisons. The drone is on the ground, a little far from the ground, and far from the ground. In the figure, the simulator screen is on the left, and the corresponding lidar measurements visualized in rviz are on the right. uav on the ground

close to the ground

far from the ground

iche033 commented 2 years ago

I think this issue is present in the bottom sensor slots on the quadrotor. The 2 ways to fix it is to change their location by raising the sensor slots higher, or use longer legs to elevate the whole drone platform higher. Either option may have some unforeseen impact on teams code that already depend on the current sensor position. Unfortunately we decided not to make the change. We recommend using another lidar on the left, right, front or back slot and oriented downwards to workaround this issue.