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Published 20 hours ago • verified publisher icon ros-planning

sensor_origin ignored in maskContainment

Open peci1 opened this issue 9 years ago • 1 comments

The shape_mask::maskContainment method has a sensor_origin (or, in the .h file, sensor_pos) argument which it never uses.

peci1 avatar Aug 14 '15 11:08 peci1

I also stumbled across this. The sensor origin was considered and used in c69aa54e02c67d7529c66fc6e06, but then that code got removed again in 7690c05ed722ce2fb201f for reasons that are not clear to me. Maybe @isucan can comment on this? :)

I definitely saw things not working when using a world fixed frame as the planning frame. Once the robot moved away from the origin, suddenly everything got filtered. I "fixed" that by setting the max range to a ridiculously high number.

skohlbr avatar Feb 13 '16 15:02 skohlbr