Prasad,
Sorry for joining the discussion a bit late.
A couple of things:
1) The voxel grid tracks unknown space, but its not published in the visualization of the grid. It was just too many cells to render. If you want to see the 2D projection of unknown space in the voxel grid, you can subscribe to the unknown_space topic of the relevant costmap.
2) Publishing visualization information from very large maps can slow the system down. As Eric suggested, setting publish_frequency to 0 for the global_costmap should help things.
3) Changing the update_frequency from 5.0Hz to 8.0Hz actually makes the map update more frequently so I'm not sure why this resolved anything for you.
4) For large maps, on some machines, I can see it taking some time for AMCL to start up. Do the errors your experiencing go away consistently after AMCL is successfully up and running?
Hope all is well,
Eitan
On Mon, Sep 20, 2010 at 4:07 AM, Prasad Dixit
<abhimohpra@gmail.com> wrote:
Hello Eric,
I have changed the update rate from 5.0 to 8.0.
Though It is taking lot of time initially to load the map and configuring
likehood model; it worked finally..
Is it something because i have not specified position in AMCL? Is this
taking lot of time to spread initial particles and get exact global position
of robot in the map?
OR is it completely related to hardware which i should update it
finally...??
- Prasad
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