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robotika / osgar

Open Source Garden (Autonomous) Robot
MIT License
13 stars 12 forks source link

Octomap drawing tweaks #827

Closed m3d closed 3 years ago

m3d commented 3 years ago

This is more than 1 month old branch where only more detailed analysis of octomap was done (i.e. no sending diffs as originally expected). Now I come back to "flying into stairs" and octomap would be useful there, so I would merge it to master.

Note, that this PR also disables combination of left wall following and octomap waypoints.

p.s. the main feature is that after the replay of older logs it STOPs, so that you can still review the last 3D map.

m3d commented 3 years ago

p.s.2 the speed up with waypoints only is maybe not ideal - older version cut 3D +/-10m ... but the 2nd floor in FQ is z=12m ... so there are no successfully found waypoints ... or I should publish failures to find path.