Comments (4)
Dear ZengJunTao111, thanks for the interest in our software.
I think this effect just occurs because of the plotting of the path. In principle we compute the individual cell paths and then stack them together to create one big path for the whole environment/room. So basically the path "jumps" from the last point of the previous cell to the first point of the next one. If the drawing then just draws a line from the previous to the next point it appears that the path goes through an obstacle.
We assume that there is a move_base instance running on the robot, to which we can just send the individual points of this generated path and then the global/local planner performs the obstacle avoidance.
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Dear author, thank you for your proposal, your proposal is very useful to me. But now I have a small problem, that is, when I was planning the path, I found a missing part of the path in the last part, as shown in the figure below, and a missing part on the far right. But I can't seem to find a solution to this small problem in the computeBoustrophedonPath function. Can you tell me the cause of this problem? What other part of the code needs to be changed to fix the problem?
from ipa_coverage_planning.
Dear ZengJunTao111, in this specific case I don't really see why this should happen. Could you try playing around with the corresponding parameters for planning and see if the issue disappears?
from ipa_coverage_planning.
Dear ipa-foj,thank you very much for your suggestion. I will try to modify it now.
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Related Issues (20)
- [ROS Melodic] ipa_room_exploration with cob_robot [ROBOT=raw3-3] HOT 1
- Contour Line Planner HOT 2
- room_segmentation_algorithm:4 can not run HOT 2
- What version of OpenCV is used in room_segmentation_algorithm?
- The code "room_boost_->predict" crashes. HOT 9
- how to install ipa_building_msgs HOT 2
- First point of the boustrophedon trajectory ? HOT 1
- use Concorde solver to solve the TSPs HOT 2
- How to integrate this algorithm into move_base? HOT 3
- Readme Not clear enough HOT 1
- Transitioning goal to lost // wanting a cilent.launch as an example HOT 1
- cannot catkin build package in melodic HOT 5
- Running client.launch reveals that the image differs greatly from the paper experiment HOT 11
- Some of the points covered by the path are biased HOT 2
- error while launching roslaunch ipa_room_exploration room_exploration_client.launch command HOT 1
- Tool size greater than robot size HOT 1
- Trajectory starting point issue HOT 1
- How to run the code?
- The path plan around the bend has a sort of zigzag pattern
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