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strands-project / planning_tutorial

Tutorial material for working with the STRANDS executive planning framework.
MIT License
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Laser scan error #4

Closed amdshameer closed 6 years ago

amdshameer commented 6 years ago

I have created a custom blender model for a map in http://www.cs.cmu.edu/~coral/cobot/data.html The blender, pgm, svg and yaml files can be found here. I scaled the map by following this link. The corridors in the map were 8 pixel wide. In order to make it 1.5m wide, I have scaled the map to 531.56 along x and y axis. Resolution of my map is 0.1875 and it can be found in this yaml. After launching the necessary launch files, I was able to bring up the robot in morse simulator and visualize the same in Rviz. I was also able to launch navigation modules. Now the issue is, there is a mismatch of laser scan and so the robot is not able to move to a goal pose using "2D Nav Goal". But it can generate the necessary path in Rviz. Is there any way to fix this laser scan issue?

Initial pose of the robot in Morse and Rviz morse

rviz

Lase scan values are off - After rotating(a full circle) in the same spot laser_scan_values_off

Move base can plan a path (path is marked) 2dnavgoal

To me, it seems like a transformation error.

@hawesie @bfalacerda It would be really helpful if you could comment on this.

bfalacerda commented 6 years ago

Hi @amdshameer .

I think your problem is with the scaling of the map you are using, not with the morse simulation. I have less experience with that tbh, but I'd suggest you confirm the math you did for the scaling is right. It seems the map you are using is some factor smaller than the simulation environment.

amdshameer commented 6 years ago

Hi @bfalacerda Yes. My map resolution was wrong. The correct value is 0.1475 Thank you so much