no data in eleveation map about grid_map_geo

[Ahmad-Drak]

@Jaeyoung-Lim ughhhh! Sorry, my bad! I didn't source my other devel directory face palm.
It works now, I get a red line going through the grid. I assume thats because of my original dem,
Thank you for the efforts!

[Jaeyoung-Lim]

@Ahmad-Drak Happy to hear that it worked out!

[Ahmad-Drak]

just for reference, it was showing a line only since my original tif file was in wgs84. hence the pixel size was in degrees not meters. Therefore it was showing as 3mmx3mm 'line' in rviz.

[Ahmad-Drak]

The 'not aligining' is not an error it seems. A false flag is passed here

grid_map_geo/src/test_tif_loader.cpp

Line 64 in 4a14be7

map->Load(file_path, false, color_path);

However in rviz all i see is an empty grid, nothing else

[Jaeyoung-Lim]

@Ahmad-Drak Have you tried providing your own tif file in

grid_map_geo/launch/load_tif.launch

Line 6 in 4a14be7

<param name="tif_path" value="$(find grid_map_geo)/resources/sertig.tif"/>

?

Unfortunately there is no tif file included in this repository yet due to license constraints

[Ahmad-Drak]

i added my own tif file
<param name="tif_path" value="$(find grid_map_geo)/resources/DTM-100mm.tif"/>

[Jaeyoung-Lim]

@Ahmad-Drak Ah, I see the problem now

You need to provide an empty path for

grid_map_geo/launch/load_tif.launch

Line 7 in 4a14be7

<param name="color_path" value="$(find grid_map_geo)/resources/sertig_color.tif"/>

I will fix this in a following PR

[Ahmad-Drak]

@Jaeyoung-Lim i did as you suggest, same result

<param name="tif_path" value="$(find grid_map_geo)/resources/DTM-100mm.tif"/>
 <param name="color_path" value=""/>

[Jaeyoung-Lim]

@Ahmad-Drak Have you checked if your rviz is properly configured to visualize the terrain? It should look like below

[Ahmad-Drak]

@Jaeyoung-Lim it looks just like yours, without the last 3 options

When checking the topic /elevation_map, there is nothing published there

[Jaeyoung-Lim]

@Ahmad-Drak Actually if you look at the Color Transformer, they are not the same. Can you try changing them as displayed in the screenshot I sent you?

Otherwise if you can send the elevation map over I can have a look on what could have gone wrong

[Ahmad-Drak]

@Jaeyoung-Lim even when chosing Color transformer as Intensity Layer its still same result.
You can get the tif file here -removed-

[Jaeyoung-Lim]

@Ahmad-Drak For the DEM you have produced, I am experiencing the same.

Looking into the tif file you shared, is it correct that your model has such a small resolution?

It is a 3mmX3mm dem as far as I can see from the tif definitions

Width: 3139 Height: 3361 Resolution: 1.43701e-06

[Ahmad-Drak]

@Jaeyoung-Lim yes, thats correct. Its a very high resolution dem

[Jaeyoung-Lim]

@Ahmad-Drak I think this is outside the test case I was aware of, but looking into what is going on, could you maybe explain why the tif file needs to be so high resolution and small?

it seems like due to the distance transform it has been doing

grid_map_geo/src/grid_map_geo.cpp

Line 56 in 4a14be7

AddLayerDistanceTransform("distance_surface");

it is simply taking too long to compute the distance surface.

For your use case I have removed this in #7

After this change I can visualize your DEM, but it seems to have discontinunous values making it appear as a line in the visualization. Also the DEM seems to be extremely small with the high resolution.

[Ahmad-Drak]

@Jaeyoung-Lim Thank you for the quick fix. However still doesnt show up on my end. I pulled the changes and build again. The results is same as before. The Color Layer entry in rviz only has 'color' option, not elevation like yours.
I think this is because the /elevation_map topic is still not publishing..

[Ahmad-Drak]

@Jaeyoung-Lim interestingly, this does not show up in the terminal

grid_map_geo/src/grid_map_geo.cpp

Line 146 in 52025ce

std::cout << "Done reading DEM" << std::endl;

[Jaeyoung-Lim]

@Ahmad-Drak How long did you wait for the dem to be read?

[Ahmad-Drak]

@Jaeyoung-Lim the node is still running. Its been at least 8 minutes.

[Jaeyoung-Lim]

@Ahmad-Drak The only thing I can think of is the performance of the system

For me it takes a few seconds(3-4) to read your dem

[Ahmad-Drak]

@Jaeyoung-Lim thats unlikely, Im using a Ryzen 9 5950x.
I will try to debug more somehow