Add flag to round the occupancy grid values to the trinary interpretation #1489
Conversation
…tion. Add transform tolerance option to avoid TF extrapolating into the future. Signed-off-by: Christian Barcelo <[email protected]>
| if (observed != 0) { | ||
| const auto cell = | ||
| ::cartographer::common::RoundToInt((1. - color / 255.) * 100.); | ||
| if (trinary_interpretation) { |
There was a problem hiding this comment.
This is deviating from documentation of this message: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
Did you consider improving the nav stack to handle this properly?
There was a problem hiding this comment.
While it is correct that deviates from the documentation of OccupancyGrid, map_server as a standard in ROS uses that same message for publishing in this way.
It's true also that nav stack could be improved to properly work with the current approach that Cartographer has, but I want to bring an option that would allow ANY package developed to work with map_server (again, as a standard), to properly work with Cartographer too. As I mentioned this is the case of autonomous exploration packages as explore-lite and frontier-exploration. There are a lot of issues opened on the GitHub of those packages asking to work with Cartographer, and the same might be happening with others packages that I don't know.
There was a problem hiding this comment.
This sounds unconvincing. It seems you agree that the current implementation is correct. Also map_server which you mention seems to use the message as documented. http://wiki.ros.org/map_server even mentions scale and raw modes which would also break the other packages you are interested in it would seem at first glance. Is this not the case? I can only encourage you to investigate improvements in these packages. Not foremost to support the approach that Cartographer has, but to the support the OccupancyGrid message as it is documented.
trinary_interpretationintooccupancy_grid_node_mainandpbstream_map_publisher_mainto round the values into0or100based on defaultphitandpmiss.node_mainandoffline_nodethat allows setting a tolerance to the TF message. This is something similar to what AMCL and GMapping do.Signed-off-by: Christian Barcelo [email protected]