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I think its actually pretty clear, your map's edges are looking like they intersect with the front bumper of your vehicle (more or less, the exactness isn't the point). Your vehicle's fixed frame used for planning is presumably somewhere in the center of the cab or the articulation point or similar. That is literally off the map in the most actual meaning. To plan in the map, you need the robot to be in the map itself, so meaning either you need to pre-map the space, teleop the first bits so you can get context about the space around it, or add more sensors so your system has information about whats around it.

You're kind of asking for the impossible if you don't have sensor coverage on the sides / back and you ask the robot to navigate somewhere far away where it both (1) has no map to know where things are or (2) has no sensors to decide what's there right now.

I think its actually pretty clear, your map's edges are looking like they intersect with the front bumper of your vehicle (more or less, the exactness isn't the point). Your vehicle's fixed frame used for planning is presumably somewhere in the center of the cab or the articulation point or similar. That is literally off the map in the most actual meaning. To plan in the map, you need the robot to be in the map itself, so meaning either you need to pre-map the space, teleop the first bits so you can get context about the space around it, or add more sensors so your system has information about whats around it.

You're kind of asking for the impossible if you don't have sensor coverage on the sides / back and you ask the robot to navigate somewhere far away where it both (1) has no map to know where things are or (2) has no sensors to decide what's there right now.now. How could it know anything else?