terrain_analysis的使用问题

SUCRO-122-LDY 2022-09-02 09:27:22

各位大佬,请教个问题,我想用terrain_analysis包来实现velodyne16对地面的分析,不过我的机器人载体是四足机器人,机器人在运动过程中幅度会有些大,导致点云是晃动的,请问这样的情况下可以使用terrain_analysis吗。在整个autonomous的大工程里,我发现像system_indoor这些仿真的文件里有运行了两个terrain_analysis,这两个包的功能性不重复吗?

在运行上面这两个包的前提下,我看了一下velodyne的点云,并没有看到官网上介绍的绿色通过区域和红色障碍物区域,是我的参数没有设置正确吗?

 

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哈工大-朱洪彪 社区管理员 2022-09-05
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你好,即使是四足机器人也是可以使用我们的terrain_analysis,点云晃动没关系,只要保证点云在世界坐标系下不晃动就可以了,也就是位姿估计不晃动。这两个terrain_analysis范围以及分辨率上有区别,第一个是10m10m范围的,分辨率为0.1m,主要用于局部的路径规划,第二个则是40m40m范围的,分辨率为0.2m。主要用于探索全局路径规划之类的上层规划算法分辨可通行与不可通行的区域。如果你只是需要局部避障,可以不用运行第二个。至于没有看到红色绿色区域,可能是rviz设置的问题,rviz里显示点云的时候可以按照intensity显示颜色,这个你可以查一些rviz设置相关的知识。希望能够帮助到你。

SUCRO-122-LDY 2022-09-08
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@哈工大-朱洪彪 非常感谢您的耐心解答,我们会在自己的四足平台上进行该功能的尝试,后续问题会及时和您沟通
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