DSVP initiliazation

[YuYingX]

Hi，
I test the dsv_planner for simulating in a Labyrinth environment(18.7✖37.2), the robot just runs four meters （initialization）and stops, returning back to home.

1. I try to change the resolution in octomap config file and also the frontier resolution in exploration config file. Change both of them to a smaller or bigger value. At the same time, I also modified the parameters of the Exploration Boundary. But nothing works. Are there any other parameters that can be modified?
2. I try to change the initX from 4 to 0，howerver the robot doesn't move. Why can't initialization be 0?
3. Can initialization be commented out? Will there be any impact?
4. I set the vehicleX=-18，if I roslaunch system_tunnel.launch first，the robbot just completes the initialization(home_position.x=-18) and returns home,.But when I roalunch exploration_tunnel.launch first, the robot could explore successfully(home_position.x=0). Will the initial position of the robot affect the home point and thus the exploration?

[HongbiaoZ]

Hi, Thanks for using my algorithm. I will answer your questions one by one. 1. What is the field of view of your sensor? You can check if there were any frontiers showing up in RVIZ after the initialization. If not, you can try to use the config file for matterport, which is tuned for narrow environments. If any frontier showed up, you can tuning "drrt/keepTryingNum" to a larger value. 2 & 3. The initialization is essential before exploration. The robot must start exploring from a voxel which is free. The origin point of the robot is unknown thus cannot be the start point. You can decrease "interface/initTime" to shorten the initial stage. 4. The robot starts outside the tunnel when set vehicleX to -18. You can set a new position inside the tunnel and try again. Hope the above answers can help you. Hongbiao

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On Wed, 8 Feb 2023 at 11:49, YuYingX ***@***.***> wrote: Hi， I test the dsv_planner for simulating in a Labyrinth environment(18.7✖37.2), the robot just runs four meters （initialization）and stops, returning back to home. [image: 1d4512b46e829ae9e048cc6cf486aaa] <https://user-images.githubusercontent.com/124753742/217420877-5dba8713-99c7-4260-9cc9-0544bbd61fed.png> [image: 607994a879c46f9f8e0932fccb77e13] <https://user-images.githubusercontent.com/124753742/217421637-8ef22b73-a1fa-4be9-958f-99db87002343.png> 1. I try to change the resolution in octomap config file and also the frontier resolution in exploration config file. Change both of them to a smaller or bigger value. At the same time, I also modified the parameters of the Exploration Boundary. But nothing works. Are there any other parameters that can be modified? 2. I try to change the initX from 4 to 0，howerver the robot doesn't move. Why can't initialization be 0? 3. Can initialization be commented out? Will there be any impact? 4. I set the vehicleX=-18，if I roslaunch system_tunnel.launch first，the robbot just completes the initialization(home_position.x=-18) and returns home,.But when I roalunch exploration_tunnel.launch first, the robot could explore successfully(home_position.x=0). Will the initial position of the robot affect the home point and thus the exploration? — Reply to this email directly, view it on GitHub <#8>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AO2OAXWI4LAQAIAS3JIOJX3WWMJUZANCNFSM6AAAAAAUUX5V6Q> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

-- Hongbiao Zhu The Field Robotics Center Robotics Institution Carnegie Mellon University

[YuYingX]

Thank you for your answer.

1.I don't change the field of view of the sensor,and just replace the environment .

4.Sorry, about the forth question,I didn't explain clearly, the initial point is set to -18, which is for the changed maze environment, not the initial tunnel environment. Because the maze environment requires that the initial position must be （-18，0）.So, I wonder if opening the environment or exploring first will affect the location of the home point.

[A-Nobel]

I guess the robot must to move a little, then the radar can scan the ground of last position to construct the octomap.