How to save more ESDF map

[Kevinlibaba]

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

[DeveloperFuloo]

Besides comment line 652-722 in sdf_map.cpp, i comment line 729-733 line in sdf_map.cpp that commented clear outdated data,it will save the global map

[eldenring998]

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

[Kevinlibaba]

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Hi @eldenring998, it didn't run for me, sorry I can't help you.

[eldenring998]

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Hi @eldenring998, it didn't run for me, sorry I can't help you.

hello，I seem to have succeeded. In addition to the operations you mentioned above, you also need to delete lines 876-877 in sdf_map.cpp. In the program, occupancy_buffer_inflate_ stores point cloud data, and the code on lines 876-877 will delete the point cloud in occupancy_buffer_inflate that is outside the update range.

[DeveloperFuloo]

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Hi @eldenring998, it didn't run for me, sorry I can't help you.

hello，I seem to have succeeded. In addition to the operations you mentioned above, you also need to delete lines 876-877 in sdf_map.cpp. In the program, occupancy_buffer_inflate_ stores point cloud data, and the code on lines 876-877 will delete the point cloud in occupancy_buffer_inflate that is outside the update range.

hi， @eldenring998 ,let me confirm the location of the code you mentioned, do you mean the resetBuffer function?

[eldenring998]

Hey Zhou, How can I save more map as shown in Figure 1 ? I have tried your comments in #60, #70 and #35, but not effect on map in RVIZ. Do you have any idea to solve that ? P.S. I have already set sdf_map/local_map_margin to 500 and set publishMapInflate(true), as well as commented clearAndInflateLocalMap.

hello，I met the same problem as you, did you solve it?

Hi @eldenring998, it didn't run for me, sorry I can't help you.

hello，I seem to have succeeded. In addition to the operations you mentioned above, you also need to delete lines 876-877 in sdf_map.cpp. In the program, occupancy_buffer_inflate_ stores point cloud data, and the code on lines 876-877 will delete the point cloud in occupancy_buffer_inflate that is outside the update range.

hi， @eldenring998 ,let me confirm the location of the code you mentioned, do you mean the resetBuffer function?

yes，As long as the resetBuffer function is prevented from deleting data, all map data will be retained