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Issue with bounding box in octomap_server

asked 2012-12-16 21:25:33 -0500

bcoenen gravatar image

updated 2013-01-01 22:40:58 -0500

When running the octomap_server it sometimes crashes during a map update. This is the error message that is returned:

virtual void Map3D::handlePreNodeTraversal(const ros::Time&): Assertion `mapUpdateBBXMaxX > mapUpdateBBXMinX' failed

During testing I noticed that this happens when large open spaces are encountered. I'm wondering if anyone else also encountered this and what the best way is to deal with this.


Update: I indeed had set the ~incremental_2D_projection parameter to true

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Which version of octomap_server is that, in which ROS release?

AHornung gravatar image AHornung  ( 2012-12-16 23:28:10 -0500 )edit

It's version 0.4.5 under the Fuerte release

bcoenen gravatar image bcoenen  ( 2012-12-17 23:49:44 -0500 )edit

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answered 2012-12-22 01:08:43 -0500

AHornung gravatar image

Sorry for the late reply, for some reason I did not get an email notifying me of the update / comment...

There is an experimental feature to incrementally update the 2D projected map, instead of regenerating all of it. This may be the culprit since it's not completely tested. However, the default for the parameter ~incremental_2D_projection should be false, did you enable it?

There should be a debug output "Rebuilding complete 2D map" for octomap_server, in that case mapUpdateBBX... is not used.

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answered 2018-07-31 11:36:45 -0500

Bruno_S gravatar image

Actually, this feature is improving the 2D mapping capabilities. The performance and results are much better. Although, for some reason it reaches a point where occurs this error. Has it been an update since then? ;)

Thanks, Bruno

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Asked: 2012-12-16 21:25:33 -0500

Seen: 352 times

Last updated: Jan 01 '13