Map stop mapping and start cleaning everything

[GLMDaleth]

Hello there,

I'm actually using your package which is awesome for mapping rough terrain,

But i'm facing some probleme using it, actually when i launch the node the mapping starts well and everything is fine but after moving a bit with my robot the mapping stop working and instead the map start getting cleaned.

I have no idea where this come from, do you know what could happens ?

If so which parameters i should change and why?

regards.

[mktk1117]

The map is made around the base_frame you set in the rosparam.
Maybe your robot has different frame_id than this, so the map is not moving with your robot.

base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map.

[GLMDaleth]

hi @mktk1117,
thanks for your answer, all the frame id and topics are well set, the map is moving with the robot centered in it and everything works fine but after some times we found that the mapping isn't working anymore and so the map start disapearing.

We don't know why and even changing some parameters didn't do anything.

any idea ?

regards.

[mktk1117]

Do you have any screen recording?

[GLMDaleth]

here is a video of whats happening

as u can see the map is being updated in the begining but in the end it stops building it and after a while it become totally empty

[mktk1117]

umm, it's weird...
Can you double check if these parameters make sense for your setup? (ramped_height_range_a, b, c)

elevation_mapping_cupy/elevation_mapping_cupy/config/core/core_param.yaml

Line 23 in 6ba8383

ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject.

Also can you disable these and see what happens?

elevation_mapping_cupy/elevation_mapping_cupy/config/core/core_param.yaml

Line 51 in 6ba8383

enable_overlap_clearance: true

elevation_mapping_cupy/elevation_mapping_cupy/config/core/core_param.yaml

Line 49 in 6ba8383

enable_visibility_cleanup: true

[GLMDaleth]

i've tried disabling the 2 parameters and nothing changed.
For the "ramped_height_range_*" parameters i don't exactly understand what it refers to and so i don't know if there make sense for my setup, do you have a better explanation of it ?

[mktk1117]

You can check the figure in the paper.

[iiisaac40]

I am also facing this issue. Do you have the solution? I am guessing it is due to the problem of pose estimation. Are you using single sensor or multiple?

[GLMDaleth]

@iiisaac40 Hello,
So to be honest we didn't manage to find the real issue, but we changed the robot that was using elevation mapping for a robot with a bigger computer and the problem disappeared.