Non colliding paths are not generated in 3D Mapping Benchmark.

[Vinay545]

In 3d Mapping benchmark, the nbvplanner node has to generate the collision free paths. But in my case all the generated paths are colliding paths as shown below. So there is no progress in the benchmark mission.
I tried chaging the following parameters. But It did not resolved the issue.

1. sensor_max_range - increase
2. planning_resolution - decrease
3. mapping_resolution - decrease
4. system/bbx/x, system/bbx/y, system/bbx/z, system/bbx/overshoot, bbx/minX, bbx/minY, bbx/minZ, bbx/maxX, bbx/maxY, bbx/maxZ, - decrease
   

[Vinay545]

Hi Behzad,

Hi Behzad,

Non-colliding paths are generating when the I used value >= 0.8 for planning_resolution. Previously I used the values upto 0.5 It may be the reason that it was not working earlier.

But the map generation is very slow. Does it happens like that or am I missing something?

[zaddan]

Hi Vinay,

how slow do you mean? Our planning algorithm pretty compute intensive. As you see in the paper, it will take over two seconds for a TX2.

[Vinay545]

Hi Behzad,

Here the planning algorithm is not slow.

But while planning most of the times the colliding paths are generating. You can see that in the figure.

Because of this total mission time is increasing.

What are the parameters that affect these generation of colliding paths?
What is total mission time in 3D Mapping benchmark.?

The environment consists of different rooms or polygonal areas. The drone is not moving to other polygonal area(or rooms). Its is trying generate the octomap for central polygonal area(or room)

[zaddan]

what do you mean by colliding paths are generating?
Also, total time is the time that it takes for the drone to cover (some portion) of the entire area. You set the portion with coverage_threshold. For example, if this value is 80%, this means that the drone considers its mission completed if it covers 80% of the entire area. If you are using our profiler, you should be able to see mission_time = 1 if the mission is completed.

[zaddan]

Also, note that if you increase the planning resolution too big, the drone think it can't fit through the openings cause it considers them as blocked, so it might never escape the center point. What resolution do you use?

[Vinay545]

Here the dark red paths in the figure are colliding paths.
I am using 0.8 resolution. When I use resolution value less than 0.8, green paths or light red paths are not generating. The mission is not going forward.
But with 0.8 resolution, the drone is not moving to other rooms. You are right about this.
Are there any other parameters on which the generation of green or light red paths depends?
And also I am running these benchmarks on Jetson TX2 with all the 6 cores online.