Reinitialize global and storage maps with odometery #187
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XuRobotics
changed the title
XuRobotics
reviewed
Feb 12, 2023
| range_x: 25.0 # range of the map in x-axis (high impact on memory and computation usage, recommended value: 40) | ||
| range_y: 25.0 # range of the map in x-axis (high impact on memory and computation usage, recommended value: 40) | ||
| range_x: 50.0 # range of the map in x-axis (high impact on memory and computation usage, recommended value: 40) | ||
| range_y: 50.0 # range of the map in x-axis (high impact on memory and computation usage, recommended value: 40) |
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Please revert to default values (25)
XuRobotics
reviewed
Feb 12, 2023
| // Reset global and storage maps if the robot is far from the map centers | ||
| const auto diff = lidar_position_odom - global_center; | ||
| const auto distance = diff.norm(); | ||
| const auto threshold = std::min(global_map_dim_d_x_, global_map_dim_d_x_) / 40; |
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Dividing by 40 will make the update small. Maybe we should make this threshold a parameter in the mapper YAML file, maybe name it something like map_reinit_distance, and make the default value -1 (which means no reinitialization at all).
| const auto threshold = std::min(global_map_dim_d_x_, global_map_dim_d_x_) / 40; | ||
| ROS_INFO("[Mapper]: distance is %.2lf, threshold is %.2lf", distance, threshold); | ||
| if (distance > threshold) { | ||
| ROS_INFO("[Mapper]: resetting global and storage map"); |
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Please add a TODO here stating that we need to publish a stopping policy state trigger
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** Description **
Re-initializes the global and storage maps after the odometer position is sufficiently far from the center of the global map.
** Tests **
Tested that the maps were re-initialized using logs and the simulation. For some reason after the maps are re-initialized, the ground is filled with yellow patches.
Also attempted to more efficiently re-initialize the maps using
allocate(), however this would result in a lay of blue and purple voxels on the top.