Installation procedure inquiry about polygon_coverage_planning HOT 3 CLOSED

On Fri, Jul 8, 2022 at 2:48 AM Rik Baehnemann ***@***.***> wrote: Hi @DistroIII <https://github.com/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. — Reply to this email directly, view it on GitHub <#66 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AND3KDQIMSNVZ2E34XXRQCLVS72QRANCNFSM52P4IRXQ> . You are receiving this because you were mentioned.Message ID: ***@***.***>