How to use RGB-D camera?

[engcang]

Hi. @MihirDharmadhikari ,
I really appreciate sharing this great repo.

I tried to use RGB-D camera by changing all of

• exploration/mbplanner_ros/global_planner/config/global_planner_config.yaml
• exploration/mbplanner_ros/mbplanner/config/mbplanner_config.yaml
• exploration/mbplanner_ros/mbplanner/config/octomap_sim_config.yaml
• exploration/mbplanner_ros/mbplanner/config/planner_control_interface_sim_config.yaml
• exploration/mbplanner_ros/mbplanner/mbplanner.launch

especially, global_planner_config.yaml and mbplanner_config.yaml.

I changed the SensorParams as
type: kCamera
max_range: 15.0
center_offset: [0.0, 0.0, 0.0]
rotations: [0.0, 0.0, 0.0]
fov: [rad(pi/2), rad(pi/3)]
resolution: [rad(5.0pi/180), rad(3.0pi/180)]

But right after I changed the sensorparams, I can get only

[ WARN] [1607363547.506713317, 30.048000000]: No positive gain for any vertex
[ WARN] [1607363547.506726017, 30.048000000]: Zero gain
[ WARN] [1607363547.506776290, 30.048000000]: Planner service failed

Zero gain continuously.

Did I set any configuration wrong to use RGB-D Camera?

thank you in advance.

[MihirDharmadhikari]

Hello,

I checked the same thing and I found a bug in the kCamera model. I have fixed the issue in this pull request. This has now been merged into the master.
Thank you very much for pointing this out.
Please let me know if you face any other problems.

[engcang]

Cool! Thanks a lot for your fast reply and fix!! It works great now :) 💯