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ros-industrial-attic / reuleaux

GSoC Project for robot reachability
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Error while creating inverse reachability map #68

Open Kaushik093 opened 2 years ago

Kaushik093 commented 2 years ago

When I run the command rosrun map_creator create_inverse_reachability_map {reachability map} I get the following error .

[ INFO] [1657003801.201813186]: Creating map with default name. [ INFO] [1657003801.203122128]: Opening map elfin5_r0.08_reachability_ssr.h5 [ INFO] [1657003801.204203088]: Opening map elfin5_r0.08_reachability_ssr.h5 [ INFO] [1657003802.711464680]: Number of poses in RM: 209614 [ INFO] [1657003802.711503689]: Number of voxels: 185193 create_inverse_reachability_map: /build/pcl-OilVEB/pcl-1.8.1+dfsg1/octree/include/pcl/octree/impl/octree_pointcloud.hpp:689: void pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>::genOctreeKeyforPoint(const PointT&, pcl::octree::OctreeKey&) const [with PointT = pcl::PointXYZ; LeafContainerT = pcl::octree::OctreeContainerPointIndices; BranchContainerT = pcl::octree::OctreeContainerEmpty; OctreeT = pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndices, pcl::octree::OctreeContainerEmpty>]: Assertion key_arg.y <= this->max_key_.y' failed. Aborted (core dumped)

The reachability map is working fine and I am able to visualize it perfectly in Rviz. How do I fix this?

MShields1986 commented 1 year ago

Same issue here, @Kaushik093 did you make any progress with this?

I found something similair over here

Update:

Implemented a fix in my fork's noetic branch