Maybe a problem existed in euroc_simulator/mav_gazebo_plugins/srcgazebo_octomap_plugin.cpp

[HitszChen]

Hi, guys,

   I found something that maybe incorrect, please check it. 

207 std::map<std::string, bool> objects_in_collision;
208
209 std::string entity_name, entity_name_backwards;
210 double dist, x;
211 math::Vector3 start, end, start_prev;
212
213 start.y = end.y = y;
214 start.z = end.z = z;
215
216 // Set the start point of the ray to the beginning of the bounding box
217 start.x = bounding_box_origin.x - bounding_box_lengths.x / 2 - leaf_size / 2;
218 x = start.x + leaf_size / 2;
219
220 // Set the end of the ray to some large value behind itself to check
221 // if there is a boundary of an object at the current y-z location in -x
222 end.x = -far_away;
223 ray->SetPoints(start, end);
224
225 // Check if there is an intersection in the back
226 ray->GetIntersection(dist, entity_name_backwards);
227
228 bool inside_object = CheckIfInsideObject(entity_name_backwards, start, ray);
229
230 // Set in_object to true, if currently in an object
231 if (!entity_name_backwards.empty() && inside_object) {
232 objects_in_collision.insert(std::pair<std::string, bool>(entity_name, true));

the variable "entity_name" in line 232 hasn't been valued or initialized, but inserted into the objects_in_collision. Should it be entity_name_backwards?

[markusachtelik]

@burrimi can you have a look at this? @HitszChen this plugin created some problems with specific geometries, why we are currently using another method

[HitszChen]

@markusachtelik I am trying to read through the code. Could you tell me what the another method is?

[ffurrer]

maybe we should also have a look at this:
https://bitbucket.org/osrf/gazebo/issue/858/rayshape-getintersection-behaves

to my understanding this would mean that we could set far_away = 999 or something around this value in https://github.com/ethz-asl/euroc_simulator/blob/master/mav_gazebo_plugins/src/gazebo_octomap_plugin.cpp#L77

[ffurrer]

@HitszChen I think you are right about the entity_name_backwards, I will look into it now.

[ffurrer]

At least the entity_name_backwards got fixed in dc90fec. Please make a new issue, if there are more problems with this.