LiJiangnanBit
代码可以在ubuntu20.04上使用ros noetic 运行吗？
excuse me ,can you give me a idea about solving the problem"E1224 16:40:23.179859 6428 path_optimizer.cpp:51] Path optimization FAILED! W1224 16:40:23.081485 6428 reference_path_smoother.cpp:529] Ref is short: 1, quit POST SMOOTHING.". this error happens when i change the OccupancyGrid message instead of image as the input of the grid map,i don't have any method about solving that.
excuse me ,can you give me a idea about solving the problem"E1224 16:40:23.179859 6428 path_optimizer.cpp:51] Path optimization FAILED! W1224 16:40:23.081485 6428 reference_path_smoother.cpp:529] Ref is short: 1, quit POST SMOOTHING.". this error happens when i change the OccupancyGrid message instead of image as the input of the grid map,i don't have any method about solving that.
Seems that you have only one input ref point. Try longer reference line.
excuse me ,can you give me a idea about solving the problem"E1224 16:40:23.179859 6428 path_optimizer.cpp:51] Path optimization FAILED! W1224 16:40:23.081485 6428 reference_path_smoother.cpp:529] Ref is short: 1, quit POST SMOOTHING.". this error happens when i change the OccupancyGrid message instead of image as the input of the grid map,i don't have any method about solving that.
highly appreciate you for your answers,i got it .and i wonder know that in your simulation video ,the map which display the obstacle in black marker, how the map make and the map's input sensor message is the laserscan?
@lxa199709 The simulator is V-rep (now CoppeliaSim https://www.coppeliarobotics.com/). You can get the coordinates of the lidar point clouds and project them onto the gridmap.