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rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions
BSD 3-Clause "New" or "Revised" License
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fix errors in TTC visualisation #94

Closed rayvburn closed 1 year ago

rayvburn commented 1 year ago

Subscribing the ttc_prediction topic causes the PCL to be created and then this error appears:

corrupted size vs. prev_size
[move_base-23] process has died
rayvburn commented 1 year ago

Since TTC costs rely on closest points between the robot and an object (either static or dynamic), the visualisation also shows "boundaries" over the time (instead of center points). Also, an example robot trajectory is shown, but one that matches one of presented static obstacles.