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robotika / osgar

Open Source Garden (Autonomous) Robot
MIT License
13 stars 11 forks source link

First attempt to serialize real point cloud data for DARPA #915

Closed m3d closed 2 years ago

m3d commented 2 years ago

still WIP, because I do not see the results in RVIZ although I see that data are passing:

[ INFO] [1631731563.444603723]:   -> Received cloud message with stamp 1631731563.444387962 and size 4752
[ INFO] [1631731564.453401781]: Handling request of size 4854
[ INFO] [1631731564.456504018]:   -> Received cloud message with stamp 1631731564.456331571 and size 5064
[ INFO] [1631731565.465964456]: Handling request of size 5067
[ INFO] [1631731565.469224183]:   -> Received cloud message with stamp 1631731565.469060810 and size 5292
[ INFO] [1631731566.479442124]: Handling request of size 5067
[ INFO] [1631731566.483276873]:   -> Received cloud message with stamp 1631731566.483091659 and size 5292
[ INFO] [1631731567.493685635]: Handling request of size 5294
[ INFO] [1631731567.496896081]:   -> Received cloud message with stamp 1631731567.496702260 and size 5544
[ INFO] [1631731568.506177364]: Handling request of size 5597
[ INFO] [1631731568.509736950]:   -> Received cloud message with stamp 1631731568.509537037 and size 5868
[ INFO] [1631731569.519538778]: Handling request of size 5957
[ INFO] [1631731569.523001186]:   -> Received cloud message with stamp 1631731569.522840557 and size 6264
[ INFO] [1631731570.532108443]: Handling request of size 6237
[ INFO] [1631731570.535910199]:   -> Received cloud message with stamp 1631731570.535745038 and size 6564
[ INFO] [1631731571.544045829]: Handling request of size 6325
[ INFO] [1631731571.546432958]:   -> Received cloud message with stamp 1631731571.546324449 and size 6660
[ INFO] [1631731572.555055042]: Handling request of size 6325
[ INFO] [1631731572.559136979]:   -> Received cloud message with stamp 1631731572.558967597 and size 6660
[ INFO] [1631731573.568594932]: Handling request of size 6751
[ INFO] [1631731573.572746218]:   -> Received cloud message with stamp 1631731573.572526328 and size 7128
[ INFO] [1631731627.505643031]: Handling request of size 600
[ INFO] [1631731627.506201320]:   -> Received cloud message with stamp 1631731627.506147659 and size 468
[ INFO] [1631731628.514785152]: Handling request of size 935
[ INFO] [1631731628.516389049]:   -> Received cloud message with stamp 1631731628.516246133 and size 804

when called ./docker/run.bash from DARPA docker for testing

m3d commented 2 years ago

@jisa do you remember if traversibility map is global or based on robot position?

m3d commented 2 years ago

I am still not able to get any map displayed via https://bitbucket.org/subtchallenge/test_mapping_server/src/master/ ... I will commit my hacking attempts which can be then reverted.

m3d commented 2 years ago

The mapping server actually worked but test with single point was not good idea (invisible, almost). The point cloud from logfile was visible on DARPA side but not in docker ... no longer worrying about that and merging.