hongbiaoz / dsv_planner Goto Github PK

Hi，
I test the dsv_planner for simulating in a Labyrinth environment(18.7✖37.2), the robot just runs four meters （initialization）and stops, returning back to home.

1. I try to change the resolution in octomap config file and also the frontier resolution in exploration config file. Change both of them to a smaller or bigger value. At the same time, I also modified the parameters of the Exploration Boundary. But nothing works. Are there any other parameters that can be modified?
2. I try to change the initX from 4 to 0，howerver the robot doesn't move. Why can't initialization be 0?
3. Can initialization be commented out? Will there be any impact?
4. I set the vehicleX=-18，if I roslaunch system_tunnel.launch first，the robbot just completes the initialization(home_position.x=-18) and returns home,.But when I roalunch exploration_tunnel.launch first, the robot could explore successfully(home_position.x=0). Will the initial position of the robot affect the home point and thus the exploration?

Hi! Thank you for sharing your interesting research.
I'm running your algorithm in a tunnel environment, and it appears, as seen in the picture below, that there are still global frontiers left or new ones being created, even though the area has already been explored. Is there any way to address this by modifying certain parameters?

Which function package is the position and orientation information of the robot published in? Looking forward to your reply.

hi hongbiao:
What software is used to generate the ply file？
I use the blender to generate a ply file,but the point cloud density is very low!

hi:
first, thanks for sharing the works.
when I test the code on the real robot, it runs so shortly about ten meters, then returns to the home point.
the simulator works well,can you give me more information?

我想问一下你们是用什么方法做的那五个3D仿真地图,看起来非常的逼真.谢谢

hi hongbiao:
I test the dsv_planner for simulating in a long corridor, the robot just runs ten meters and stops, returning back to home.

branch noetic default(fix some compile problem)
the corridor:
long 40meters,
width 1.1m.

Hi Hongbiao,

Thanks for sharing the nice work! Can I ask which opencv version were you using? when I compiled dsv_planner, there are following errors related to opencv
dsv_planner/devel/lib/libvolumetric_map_base.so: undefined reference to cv::Mat::updateContinuityFlag()'`

i can not fine any file called system_garage.launch in this project, which is needed by readme.md. my desktop is noetic
readme里面说要启动system_garage.launch，但是项目中没有找到system_garage.launch这个文件，我的ros版本是noetic