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pal-robotics / pmb2_robot

A PAL Mobile Base for your advanced navigation needs
https://pal-robotics.com/robots/tiago-base/
Apache License 2.0
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New collision mesh results in additional occupied space in the costmap #7

Open kyouma9s opened 3 years ago

kyouma9s commented 3 years ago

Hi PAL team,

After applying the following change, the laser sensor will produce extra noises (two blue squares) under the robot base.

https://github.com/pal-robotics/pmb2_robot/commit/6f2f482804f174457056a6f1d323dbd6d1d5b2b3#diff-ad08db4e382cb0e728defe237a9f3c1e5182555d33df65e413a7b74289504ce6R60

These noises will cause additional occupied space in the costmap.

Screencast 2021-06-10 20_02_54

Once I rollback this change, the noise will disappear, like the following image.

I don’t know if this is a bug or a new feature for TIAGO. :sweat_smile:

kyouma9s commented 3 years ago

@v-lopez

v-lopez commented 3 years ago

Hi @kyouma9s I apologise for not seeing this earlier, thanks for the ping.

I'm trying to reproduce this locallly but can't. Can you share how are you launching the simulation? Also could you enable collision view in gazebo window, and send me a screenshot of where the laser intersects with the base?

For me it doesn't Screenshot from 2021-06-29 10-01-06

kyouma9s commented 3 years ago

Hi @v-lopez

This problem can be reproduced in Rviz.

1. Follow this tutorial http://wiki.ros.org/Robots/TIAGo/Tutorials/Navigation/Localization

2. Start the navigation demo by

roslaunch tiago_2dnav_gazebo tiago_navigation.launch public_sim:=true
  1. Try to use the nav tool of Rviz to make robot reach somewhere, you will see occupied costmap behind the robot.