osrf-migration
commented
4 years ago Original comment by Arthur Schang (Bitbucket: Arthur Schang).
Are the tiles containing those artifacts loaded when you attempt to report them? From a quick double-check of your subt_seed_node.cc and cross-reference from the environment, I was able to determine that most of the successful reports you have noted are from tiles near the spawn. If you would like to achieve a perfect score with the node you're running, set <levels>true</levels> to <levels>false</levels> in the urban_circuit_practice_01.ign world file and then you should be able to score all of the associated artifacts. If there is an issue after disabling levels, loading all tiles, and attempting to score then there may be a bug we need to investigate further.
Original report (archived issue) by Neil Johnson (Bitbucket: realdealneil1980).
The original report had attachments: subt_seed_node.cc
I noticed that we weren’t getting points for vents and gas most of the time when reporting artifacts. I used subt_seed_node to test out different artifacts and I’m seeing that on urban_practice_01 at least, I’m getting no points for vents or gas artifacts. Backpacks and phones both give me points (I’m using the true locations from the sdf file). I am attaching the subt_seed_node.cc file that I’m using. Just drop this over the top of the one in the repository and build and run. I’ve verified that this is happening on both the catkin build and the subt_virtual_testbed docker image.