Closed mktk1117 closed 6 years ago
Hi Takahiro,
The origin
in setMap
function is the lower left corner of the voxel
map. Let center
be you current robot position, dim
be the dimension of
the map (dim
in meter instead of integer). Then the origin
should be
center - 0.5 * dim
.
When the robot is moving, you have to update origin
accordingly.
Sikang
On Fri, Jul 27, 2018 at 11:34 AM, Takahiro Miki notifications@github.com wrote:
Hi! Thank you for your library!
I tried to use this planner with rotors simulator with gazebo. Then, I want to set the center of the VoxelMap to a quadrotor's position. When I just set the origin with VoxelMapUtil's setMap function, it just shifted the map. [image: selection_003] https://user-images.githubusercontent.com/12872984/43330025-fc150dd6-91fc-11e8-868f-5b129d2f5ea9.png
How can I fix this?
Thank you!
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Thank you Sikang!
Yes, I did center - 0.5dim
.
But the problem is the voxel map takes the position of the points from the world frame. For example, if an obstacle is at (x=1, y=0) and the center of the voxel map is (x=-1, y=0), the obstacle's position in the voxel map should be (x=2, y=0) (looking from a quadrotor's position) But, it becomes just (x=1, y=0) So, when the robot moves, only the origin of the voxel map changes and the voxels inside do not change.
Hi Sikang!
I found the solution.
I didn't call VoxelGrid::allocate
before adding the cloud.
After I called this fuction to set the origin, the problem fixed.
Thank you!
:+1:
Hi! Thank you for your library!
I tried to use this planner with rotors simulator with gazebo. Then, I want to set the center of the VoxelMap to a quadrotor's position. When I just set the origin with VoxelMapUtil's setMap function, it just shifted the map.
How can I fix this?
Thank you!