Spatio-temporal voxel layer to avoid 3d obstacles
Hi community,
env: Galactic
I am trying to implement the Spatio-temporal voxel layer package to avoid obstacles that are not detected by 2d scan. I am using gazebo depth camera.
I have some questions:
Do I need to add the stvl_layer to both local and global costmap or I can use it only for local costmap ?
Is it enough to specify the pointcloud observation source in stvl_layer only to avoid obstacles or I need to add it also to obstacle_layer ?
If I add pointcloud observation source in stvl_layer only, the plannar plans through the obstacle:
Note that the obstacle in front of the robot is not detectable by the laserscan
here is the log:
[INFO 1626931421.514384579] [controller_server]: Received a goal, begin computing control effort.
[WARN 1626931421.520858397] [controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded general_goal_checker . This warning will appear once.
[INFO 1626931423.029277935] [controller_server]: Passing new path to controller.
[INFO 1626931424.029268647] [controller_server]: Passing new path to controller.
[INFO 1626931425.029358744] [controller_server]: Passing new path to controller.
Then if I specify pointcloud observation source for stvl_layer and obstacle layer, the plannar sometimes plans the path through the obstacle and sometimes it avoids the obstacle, but i got errors/warns in the log
[INFO 1626931789.900263594] [controller_server]: Passing new path to controller.
[WARN 1626931790.902719138] [bt_navigator_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for follow_path
[INFO 1626931790.903188264] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[WARN 1626931790.946699561] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.
[INFO 1626931791.640286147] [controller_server]: Passing new path to controller.
[INFO 1626931791.900269273] [controller_server]: Passing new path to controller.
[rviz2-5] [INFO 1626931792.152939240] [rviz]: Message Filter dropping message: frame 'odom' at time 3749.690 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO 1626931792.153129298] [rviz]: Message Filter dropping message: frame 'odom' at time 3749.690 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[WARN 1626931792.987636210] [controller_server]: Control loop missed its desired rate of 2.0000Hz
[INFO 1626931792.990406154] [controller_server]: Passing new path to controller.
[rviz2-5] [INFO 1626931793.331718135] [rviz]: Message Filter dropping message: frame 'odom' at time 3750.192 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO 1626931793.332792560] [rviz]: Message Filter dropping message: frame 'odom' at time 3750.192 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[WARN 1626931794.089128166] [controller_server]: Control loop missed its desired rate of 2.0000Hz
[WARN 1626931967.647490865] [local_costmap.local_costmap]: Sensor origin at (4.91, 3.95) is out of map bounds. The costmap cannot raytrace for it.
[WARN 1626931968.646334343] [local_costmap.local_costmap]: Sensor origin at (4.91, 3.95) is out of map bounds. The costmap cannot raytrace for it.
[WARN 1626931969.649034248] [local_costmap.local_costmap]: Sensor origin at (4.91, 3.95) is out of map ...