Comments (7)
Laser is for local path planning, you can use your own binary map and scale it to the appropriate scale.
from autonomous-driving-simulation-ros.
After changing the radar detection range, it seems that the radar is unable to correctly detect obstacles in the map。
from autonomous-driving-simulation-ros.
This radar needs to be adjusted according to the size and zoom ratio of the map. My parameters are for my demo map. You need to first modify the map zoom ratio in the yaml file according to your map, and then fine-tune the radar parameters.
from autonomous-driving-simulation-ros.
Based on your map and parameters, it is possible to plan normally, but the radar point cloud cannot be displayed, and the point cloud data is empty when viewed
from autonomous-driving-simulation-ros.
from autonomous-driving-simulation-ros.
I understand what you mean. First, you need to realize that the radar is there for local path planning, and the condition for displaying the radar point cloud is the detection of obstacles. Currently, the resolution set in my map YAML file is 0.01, which means the resolution of the map is 0.01 meters per pixel. Since the parameters required by the background task of my project are fixed, my current simulation situation is equivalent to a small car (a cube with a collision volume) planning and controlling on a relatively open map. Because the path that the car can travel on the map is wide., global path planning plays the main role, and local path planning hardly plays a role. You can modify the resolution of the map to achieve the purpose of reducing the map size, so that when the path the small car can travel is relatively narrow, local path planning will come into play to avoid hitting obstacles. In this case, the radar point cloud you mentioned will be displayed.
image: 跑圈地图.jpg
resolution: 0.010000
origin: [0.0000, 0.0000, 0.00000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
from autonomous-driving-simulation-ros.
Okay, thank you for your guidance. The obstacle section under vehicle_simulation in the project seems to have not been used, but rather subscribed to obstacle information in the map through the Obstacle service?
from autonomous-driving-simulation-ros.
Related Issues (1)
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from autonomous-driving-simulation-ros.