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 | 1 | initial version |
You should be able to post links now, try putting the images up on imgur or similar.
Can you please retake the screenshots with tf visualization overlaid, something really funky is going on with your transforms/navigation setup. Also please post gists of your move_base and gmapping configuration.
| | 2 | No.2 Revision |
You Bumped your karma, you should be able to post links now, try putting the images up on imgur or similar.
Can you please retake the screenshots with tf visualization overlaid, something really funky is going on with your transforms/navigation setup. Also please post gists of your move_base and gmapping configuration.
| | 3 | No.3 Revision |
Bumped your karma, you should be able to post links now, try putting the images up on imgur or similar.
Can you please retake the screenshots with tf visualization overlaid, something really funky is going on with your transforms/navigation setup. Also please post gists of your move_base and gmapping configuration.
---EDIT
Something really weird is going on with your configuration. I'm guessing that's move_base's costmap you're displaying, and not frontier_exploration's. Your frontier points (and thus the goals that are sent to move_base) should be directly on top of any detected frontiers, which are by definition edges between known and unknown space. From the images, it looks like they're being placed in very strange locations.
This might be because your odometry is poor, causing discrepencies between the local (laser data) and global (gmapping) frames. You could try using only gmapping data for exploration, taking out the laser stuff. You'll have to make sure gmapping pumps out map updates quickly enough, and potentially you'd have to lower the rate on frontier exploration.
A development goal for me may be to tie exploration updates to happen only when new data comes in from gmapping, but that's a specific use case.
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