Comments (2)
Are you using the costmap as input? if so you may try using the map itself and see if the frontiers are detected. From the picture it looks that you are using the costmap. Some mapping packages such as cartographer publish a map with a wide range of values instead of the usual ternary valued (free, occupied unknown), I have no experience with iris_lama, so you may want to check that.
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@blablebli-robots you were right using /map and /map_updates solved the problem, thanks!
My final launch file:
<launch>
<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
<param name="robot_base_frame" value="base_link"/>
<!-- Use mapper map-->
<param name="costmap_topic" value="map"/>
<param name="costmap_updates_topic" value="map_updates"/>
<!-- Use move_base map. This does NOT work-->
<!-- <param name="costmap_topic" value="move_base/global_costmap/costmap"/>-->
<!-- <param name="costmap_updates_topic" value="move_base/global_costmap/costmap_updates"/>-->
<param name="visualize" value="true"/>
<param name="planner_frequency" value="0.5"/>
<param name="progress_timeout" value="30.0"/>
<param name="potential_scale" value="3.0"/>
<param name="orientation_scale" value="0.0"/>
<param name="gain_scale" value="1.0"/>
<param name="transform_tolerance" value="0.3"/>
<param name="min_frontier_size" value="0.5"/>
</node>
</launch>
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Related Issues (20)
- map drifting HOT 2
- Build fails. [Error] : ‘xfeatures2d’ has not been declared` HOT 1
- Merge is not including all robots' maps HOT 1
- Shift in merged map origin even with static transforms HOT 1
- ERROR: cannot launch node of type [explore_lite/explore]: Cannot locate node of type [explore] in package [explore_lite].
- How to pause an exploration
- 0 Frontiers Found HOT 1
- Detailed working of the explore_lite package HOT 1
- Improper merging when robots have different orientations HOT 3
- Getting error while merging two agents in ROS Melodic
- Need help understanding your explore algorithm
- Merge with one robot
- Potential vulnerability: topic names from ROS parameters HOT 1
- Trying to build package in ROS melodic
- Melodic: Exploration Stopped HOT 1
- Waiting to connect to move_base server HOT 2
- Simulate communication delay mapping
- Merged map is not centered and does not overlap the single maps correctly HOT 3
- Exploration with two robots HOT 1
- Moving to the last marker suddenly stops
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