Problem with SetStart faild

Open thomas8329 opened this issue 7 months ago • 1 comments

Hello, When i launch the dsp package (with a custom launchfile) i have this result :

SUMMARY

PARAMETERS

/dsp/map_topic: /drone/octomap_bi...
/dsp/odom_frame_id: map
/dsp/odom_topic: /rtabmap/odom
/dsp/risk: 2
/dsp/spline_step_: 0.166
/dsp/unknown_value: 1
/dsp/update_rate: 1
/dsp/use_3d: True
/dsp/use_gazebo_odom: False
/octomap_server/frame_id: map
/octomap_server/publish_free_space: True
/octomap_server/resolution: 0.7
/octomap_server/sensor_model/max_range: 12.0
/octomap_server/sensor_model/min_range: 0.5
/rosdistro: noetic
/rosversion: 1.17.0

NODES / dsp (dsp/dsp_node) octomap_server (octomap_server/octomap_server_node) path_to_pose (dsp/path_to_pose.py)

ROS_MASTER_URI=http://localhost:11311

process[dsp-1]: started with pid [54161] process[octomap_server-2]: started with pid [54162] process[path_to_pose-3]: started with pid [54163] [ INFO] [1745934453.640260945]: Dsp::Dsp(ros::NodeHandle nh, ros::NodeHandle nh_private) [ INFO] [1745934453.660922247]: Manualy set start [ WARN] [1745934454.340576663]: Nothing to publish, octree is empty [INFO] [1745934455.112754]: Starting... [ INFO] [1745934456.066896817]: Building search graph... [ INFO] [1745934534.911670304]: Graph built [W] GridSearch:SetStart: invalid x=-9.03133 47.139 14.7518 [ WARN] [1745934534.914689849]: SetStart faild [W] GridSearch:SetStart: invalid x=-9.03133 47.139 14.7518 [ WARN] [1745934534.914836413]: SetStart faild [W] GridSearch:SetStart: invalid x=-9.0416 47.1403 14.7527 [ WARN] [1745934534.975702336]: SetStart faild [W] GridSearch:SetStart: invalid x=-8.97276 47.1329 14.7541

Then, i always have SetStart faild. Publish on the topic /dsp/set_start change nothing. I'm publishing an octomap, my odometry, all tf are correctly linked together, but nothing change.

I inspect the source code and i find that my initial coordinate ( approximatively 0 0 0) and my goal are correctly written in the setSG( start, goal). Printing start and goal give me the correct coordinate. But, just after that, the grid_start and the grid_goal are giving me totally different values (passing from IRL to octomap maybe). These values are the one print here [W] GridSearch:SetStart: invalid x=-8.97276 47.1329 14.7541

I don't know what to do, thanks in advance for your help.

Apr 29 '25 14:04 thomas8329

The different values (grid_start) are in grid coordinate space (in octomap, as you suspected). These are values >= 0 corresponding to array indexing for the internal map (grid). The error is because you're x value is <0. The question is, why?

What is the values in the equation on line 588 (in posRes())? Is the values as expected? You can use Rviz to visualize the octomap and there find the expected pmin (pmin is the minimum corner lovest x,y, and z in metrics of the map).

May 02 '25 10:05 grammers