Comments (3)
Hi @DistroIII
Thanks for using our package.
[i] This package does not utilize TF explicitely, but the path and visualization markers are given in a fixed frame with the ID you set in the polygon. In the example polygons this frame is called "world". If you want to visualize "base_footprint" you will have to publish the transform from "world" to "base_footprint" which is probably coinciding with your odometry state estimation. You can also change the frame id "world" to a different one, for example "map" when setting the polygon, see e.g., https://github.com/ethz-asl/polygon_coverage_planning/blob/master/polygon_coverage_ros/cfg/polygons/example_polygon_epfl_simple.yaml#L9
[ii] If you know the map in advance you can set the polygon and holes as a ros parameter file, e.g., https://github.com/ethz-asl/polygon_coverage_planning/blob/master/polygon_coverage_ros/cfg/polygons/example_polygon_epfl_simple.yaml . This file will be loaded in the roslaunch script https://github.com/ethz-asl/polygon_coverage_planning/blob/master/polygon_coverage_ros/launch/coverage_planner.launch#L10
If you do not know the polygon in advance you can set it via ros service call rosservice call /coverage_planner/set_polygon
. This service call is also called when using the rviz_polygon_tool
to click together the polygon.
from polygon_coverage_planning.
Do not hesitate to contact us again if you are stuck with the package. Until then I consider this as resolved.
from polygon_coverage_planning.
from polygon_coverage_planning.
Related Issues (20)
- further inquiry from issue #66
- Inquiry Continuation of #66 and #67 HOT 4
- Setting frame_id to "map" does not work HOT 3
- Question about Clustering HOT 1
- Large terrain takes very very long time to plan coverage path HOT 1
- error: Goal node is not at back of solution HOT 3
- ROS2 release HOT 2
- Question about video presentation. HOT 6
- What is lateral FOV in yaml file? HOT 13
- Path precomputation does not give feedback
- Plan without setting start or goal
- What is wall distance parameter? HOT 1
- Can't echo /waypoint_list HOT 2
- package for ROS melodic faulty HOT 1
- line distance HOT 1
- using with map (map.pgm or occupancy grid map) HOT 2
- Inquiry on how to create accurate waypoints which exist in a map when using polygon_coverage_ros package
- sweep_test
- Error while trying to solve
- coverage planner crashes PC
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