VoxelMap center to quadrotor's position

[mktk1117]

Hi! Thank you for your library!

I tried to use this planner with rotors simulator with gazebo.
Then, I want to set the center of the VoxelMap to a quadrotor's position.
When I just set the origin with VoxelMapUtil's setMap function, it just shifted the map.

How can I fix this?

Thank you!

[sikang]

Hi Takahiro, The `origin` in `setMap` function is the lower left corner of the voxel map. Let `center` be you current robot position, `dim` be the dimension of the map (`dim` in meter instead of integer). Then the `origin` should be `center - 0.5 * dim`. When the robot is moving, you have to update `origin` accordingly. Sikang

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On Fri, Jul 27, 2018 at 11:34 AM, Takahiro Miki ***@***.***> wrote: Hi! Thank you for your library! I tried to use this planner with rotors simulator with gazebo. Then, I want to set the center of the VoxelMap to a quadrotor's position. When I just set the origin with VoxelMapUtil's setMap function, it just shifted the map. [image: selection_003] <https://user-images.githubusercontent.com/12872984/43330025-fc150dd6-91fc-11e8-868f-5b129d2f5ea9.png> How can I fix this? Thank you! — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#5>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ABccl1K0xvye4FgaqDY-WoQwziZbjsIMks5uKzMUgaJpZM4VjtG_> .

[mktk1117]

Thank you Sikang!

Yes, I did center - 0.5dim.

But the problem is the voxel map takes the position of the points from the world frame.
For example, if an obstacle is at (x=1, y=0) and the center of the voxel map is (x=-1, y=0),
the obstacle's position in the voxel map should be (x=2, y=0) (looking from a quadrotor's position)
But, it becomes just (x=1, y=0)
So, when the robot moves, only the origin of the voxel map changes and the voxels inside do not change.

[mktk1117]

Hi Sikang!

I found the solution.
I didn't call VoxelGrid::allocate before adding the cloud.
After I called this fuction to set the origin, the problem fixed.

Thank you!

[sikang]

👍