The exploration trajectory encounters a collision

[small-zeng]

Thanks for your nice work， When I run ii in scene: office.pcd, the exploration trajectory encounters a collision. Why does this situation occur, and how can we resolve this issue？

[small-zeng]

I change the scene here as Fuel:

[yzhangec]

It looks like the map was not correctly loaded. Please check if the file office.pcd exits and if there is any error message from map_generator package.

[small-zeng]

It looks like the map was not correctly loaded. Please check if the file office.pcd exits and if there is any error message from map_generator package.

I haven't made any changes to the code, and at the same time, the 'office.pcd' file and other map file exists. However, the 'map_generator' is showing a warning in rviz terminal as follows:

setting /run_id to 30ce7fe6-9966-11ee-9aec-0242ac11000a process[rosout-1]: started with pid [15941] started core service [/rosout] process[rvizvisualisation-2]: started with pid [15945] process[tf_53-3]: started with pid [15951] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [ WARN] [1702437478.236151017]: WARNING: package://odom_visualization/meshes/hummingbird.mesh is an older format ([MeshSerializer_v1.41]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool. [ WARN] [1702437478.236313268]: Can't assign material _missingmaterial to SubEntity of mesh_resource_marker_0 because this Material does not exist. Have you forgotten to define it in a .material script?

I also noticed that the received depth is abnormal; it should be all zeros. Is this a problem with the map not being imported or rendered? Where could the issue be？

[small-zeng]

Thanks，I solve this problem by changing