How to increase the cell size in occupancy grid properly?

asked 2015-12-03 20:55:58 -0500

robo_explorer
29 ●9 ●11 ●17

updated 2015-12-09 10:56:57 -0500

Hi,

I want to change the cell size in the occupancy grid. I changed the resolution from 0.1 to 0.5. But after this, my exploration algorithm fails at first step only. Any idea why this is happening?

I want to increase the cell size in order to decrease the number of frontiers at each step.

Image of costmap: image description

Note: I made changes in mapper.yaml not in costmap image description

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answered 2015-12-04 02:30:27 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

It would be helpful if you could edit your question with a screenshot of the costmap you mention. With a 0.5 m cell size, there is a good chance that huge occupied cells prevent frontiers from being reachable.

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Sorry for the delayed response. I have attached the screenshot of my costmap.yaml. But, I made the changes in mapper.yaml not in costmap. Do you think that can be the reason?

robo_explorer ( 2015-12-09 10:56:00 -0500 )edit

I mean a screenshot of the actual costmap visualized in rviz, not the settings. Also, in the screenshot the resolution is set to 0.05, not 0.5 as stated in your text.

Stefan Kohlbrecher ( 2015-12-10 02:34:10 -0500 )edit

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answered 2016-02-02 12:40:06 -0500

egr
16 ●1 ●2 ●4 https://github.com/EduardoGR

When you say "I changed the resolution from 0.1 to 0.5" , you mean that you changed the resolution from 0.1 to 0.05? That's what i see in the first screenshot "resolution: 0.05".

Can you put your exploration algorithm here?

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How to increase the cell size in occupancy grid properly?

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