robotics-upo / dynamic_obstacle_detector Goto Github PK

Hello.
I'm trying to use this detector in a real environment, but when I look at it in rviz, I see a red dot (from the "/dynamic_obstacles/points" topic) near the sensor. The robot reacts to this dot and rotates or gets stuck. This point keeps appearing even when I disable the display of obstacles from Lidar. Also, sometimes the point changes to a blue point, which is a candidate for a dynamic obstacle. Can you tell me what causes this?
The attached image shows a red dot near the wheelchair. The sensor is mounted on the left side of the wheelchair. In the attached image, the scan data is displayed, but the dot will remain displayed even if LaserScan is unchecked in rviz.

I would like to ask, what is the basic principle of the implementation of the function package? Do you have any relevant papers or materials to recommend? Thank you！

hello, I meet a problem when I use your code, when the dynamic is far away from the robot, the code can predict and estimate the dynamic obstacle state, and can display in the rviz, but the dynamic obstacle is close to the robot, the code not good, the topic of /dynamic_obstacle will not estimate the state, and the rviz not display the obstacle marker.

Thanks###

Hello.
I recently had a question on SFWPlanner. Since you said it was most likely a recognition problem, I'll ask here. When I displayed the distance to pedestrians during the simulation, the values were generally correct, but occasionally a non-existent pedestrian was detected and the distance to that pedestrian was output. I understand that this detector is a simple one, so some false positives are inevitable, but I would like to know if there are any parameters that should be changed to reduce false positives.

I have a small question.
I would like to know what is the maximum and minimum speed this detector can detect.
I would like to know ．

Hello.
When I try to use this detector in a real environment, I get a lot of blue dots on rviz. On the other hand, with the same parameters, in the simulated environment, blue dots are displayed only in the area where there are pedestrians. Is this detector not so suitable for the real environment? Or can it be solved by adjusting the parameters?