facebookresearch/pyrobot

when building map with orb-slam, i got blank map

fujin678 opened this issue · 2 comments

fujin678 commented

Steps to reproduce

  1. _____roslaunch locobot_control main.launch use_arm:=true use_base:=true use_camera:=true use_vslam:=true use_rviz:=false

  2. _____drive robot to move forward 1m. I made sure camera can see some obstacles (eg, desk) in 2 meters

    python base_position_control.py --base_planner none  --base_controller proportional   --smooth=False --close_loop --relative_position 1.0,0.0,0.0 --botname locobot --use_map=False

  3. _____rosrun map_server map_saver -f test

Observed Results

dumped test.pgm only has value oxfe (besides headers)

Expected Results

  • What did you expect to happen?

Relevant Code

// TODO(you): code here to reproduce the problem
kalyanvasudev commented

ORBSLAM doesn't publish out the map as expected by the map_sever library.

If you wish to use map_server, you need to publish in the compatible format on your own.

You could use this script to do so - https://github.com/facebookresearch/pyrobot/blob/e3126f007ac18518c2a0f3c004569ad785bb525d/robots/LoCoBot/locobot_navigation/base_navigation/nodes/mapToGrid.py

fujin678 commented

Hi kalyanvasudev,
your recently modified mapTogrid runs successfully. But even with it, i still get blank map. Below is my test procedure,

  1. roslaunch locobot_control main.launch use_arm:=true use_base:=true use_camera:=true use_vslam:=true use_rviz:=false

  2. run "python mapToGrid.py". Looks running OK.

  3. run "rosrun map_server map_saver -f test"

the resulting "test.pgm" is blank. Looks like map_server does not receive the maps published by mapTOgrid