Fix virtual walls #13
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Thanks! Just a note for posterity: The virtual_walls_map layer seems to overwrite the obstacle layer when the free space in the virtual walls map is gray (= unknown). When the free space is white, like in mir_gazebo/maps/maze_virtual_walls.png, this doesn't happen. Putting the virtual_walls_map layer below the obstacle layer (which is done in this PR) makes it work with gray values, too. |
kdhansen
pushed a commit
to AAU-RoboticsAutomationGroup/mir_robot
that referenced
this pull request
Dec 6, 2023
* using NavFn planner + DWB local planner
* added custom behavior tree for MiR
* added robot footprint
* adapted a few parameters
* visualization updates in rviz
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The previous configuration of the local costmap didn't work for me -- obstacles seen in the laser scans were not added, or were overridden by the virtual_walls_map layer. Reordering the layers and loading the virtual walls before the obstacles fixes this for me.
Also, I added a
with_virtual_wallsparameter tostart_maps.launchandstart_planner.launch.