Hector Exploration Slow?
Hello, I'm experimenting with the Hector Navigation Stack and I'm quite happy with the results I'm getting. However, right now I find that Hector Exploration is too slow for my application, in the Youtube videos from the authors it seems a lot faster, but when I'm running it takes more than 30 seconds every time I request the exploration service. Does anybody have ideas how to 1) make the planned trajectory farther from the start point, and 2) make goal finding and path planning faster? Many thanks in advance.
The following is a summary of the log from Hector Exploration:
[ INFO] [125.754800471]: HectorCM: is up and running.
[ INFO] [125.799118221]: Loading from pre-hydro parameter style
[ INFO] [125.884867888]: Using plugin "static_layer"
[ INFO] [125.987612471]: Requesting the map...
[ INFO] [126.302194221]: Resizing costmap to 2048 X 2048 at 0.050000 m/pix
[ INFO] [126.396465555]: Received a 2048 X 2048 map at 0.050000 m/pix
[ INFO] [126.414453555]: Using plugin "obstacle_layer"
[ INFO] [126.431127221]: Subscribed to Topics:
[ INFO] [126.466592721]: Using plugin "inflation_layer"
[ INFO] [126.597621721]: [hector_exploration_planner] Initializing HectorExplorationPlanner
[ INFO] [126.936871221]: [hector_exploration_planner] Parameter set. security_const: 0.500000, min_obstacle_dist: 1000, plan_in_unknown: 1, use_inflated_obstacle: 1, p_goal_angle_penalty_:50 , min_frontier_size: 5, p_dist_for_goal_reached_: 0.250000, same_frontier: 0.250000
[ INFO] [181.322802958]: Exploration Service called
[ INFO] [181.553172208]: [hector_exploration_planner] Size of trajectory vector for close exploration 223
[ INFO] [181.553525541]: [hector_exploration_planner] pushed 10 goals (trajectory) for close to robot frontier search
[ INFO] [203.212077703]: [hector_exploration_planner] exploration: found 4184151 frontiers!
[ INFO] [213.636407867]: [hector_exploration_planner] exploration: plan to a frontier has been found! plansize: 25
[ INFO] [240.141801611]: Exploration Service called
[ INFO] [240.368448777]: [hector_exploration_planner] Size of trajectory vector for close exploration 458
[ INFO] [240.368647444]: [hector_exploration_planner] pushed 15 goals (trajectory) for close to robot frontier search
[ INFO] [263.229025855]: [hector_exploration_planner] exploration: found 4183563 frontiers!
[ INFO] [274.304115019]: [hector_exploration_planner] exploration: plan to a frontier has been found! plansize: 51
[ INFO] [326.958585507]: Exploration Service called
[ INFO] [327.206913507]: [hector_exploration_planner] Size of trajectory vector for close exploration 806
[ INFO] [327.207185257]: [hector_exploration_planner] pushed 33 goals (trajectory) for close to robot frontier search
[ INFO] [349.500774335]: [hector_exploration_planner] exploration: found 4181744 frontiers!
[ INFO] [359.918440916]: [hector_exploration_planner] exploration: plan to a frontier has been found! plansize: 18
[ INFO] [379.455494828]: Exploration Service called
[ INFO] [379.681278661]: [hector_exploration_planner] Size of trajectory vector for close exploration 1016
[ INFO] [379.681586161]: [hector_exploration_planner] pushed 35 goals (trajectory) for close to robot frontier search
[ INFO] [402.406080989]: [hector_exploration_planner] exploration: found 4177748 frontiers!
[ INFO] [413.360849903]: [hector_exploration_planner] exploration: plan to a frontier has been found! plansize: 18
[ INFO] [432.999668898]: Exploration Service called
[ INFO] [433.214620565]: [hector_exploration_planner] Size of trajectory vector for close exploration 1230
[ INFO] [433.214923148]: [hector_exploration_planner] pushed 42 goals (trajectory) for close to robot frontier search
[ INFO] [454.773803143]: [hector_exploration_planner] exploration: found 4176345 frontiers!
[ INFO] [465.059485641]: [hector_exploration_planner] exploration: plan to a frontier has been found! plansize: 17
[ INFO] [484.091777386]: Exploration Service called
[ INFO] [484.319620636]: [hector_exploration_planner] Size of trajectory vector for close exploration 1434
[ INFO] [484.319980219 ...
Please make sure to use the Preformatted Text button (the one with
101010on it) for log (code, console, launch files, etc) copy/pastes: without it, the text won't show (due to filtering). Just select the copied text and press the button (or usectrl+k).Thanks.
Thank you. I have updated the format.
I'm surprised by the number of frontiers it found. That seems like a lot of test, which might be why it is so slow.
Hi @jackianchow, I am also facing the same issue of slow path planning and strangely larger percentage of frontier cells, may I ask if you managed to solve the problem fo Hector Exploration being slow?