[ros-users] PropagationDistanceField usage?
matthewk1989 at aol.com
Mon Nov 22 19:28:39 UTC 2010
It appears that the distance_field package included in the debian cturtle install for ubuntu has an outdated version of distance_field.h,
as my visualization method doesn't include the btTransform argument. I will be deleting my cturtle installation and downloading
from the SVN instead to see if that will work.
From: Mrinal Kalakrishnan <mail at mrinal.net>
To: User discussions <ros-users at code.ros.org>
Sent: Mon, Nov 22, 2010 12:50 am
Subject: Re: [ros-users] PropagationDistanceField usage?
On Sun, Nov 21, 2010 at 8:28 PM, Matthew Jacob Klingensmith
<matthewk1989 at aol.com> wrote:
> I should expect to get a distance field which has a line of zeroes along
> the y axis, with increasing distances from there. However, the distance
> field I actually get has a line of zeroes along a line roughly where y=0,
> and both x and z are set to what should be y.
I'm not sure how you're calling the visualization function. I just
wrote a test similar to what you described and it seems to work
correctly. The visualize function publishes markers for points that
are in between a min and max distance field value. The way I would use
it is to set the min and max close to each other, so that you see an
iso-surface of points that are a certain distance away.
I'm including a test that you can try by putting it into
test/test_distance_field.cpp (or use within your program). It
publishes an animation of iso-surfaces of increasing distances from
the y axis. I tested this on all three axes and got the intended
results. Let me know if you have further troubles.
Hope this helps,
ros::Duration(2.0).sleep(); // hack: wait for rviz to subscribe
for (double y=-2.5; y<2.5; y+=0.05)
btTransform cur = btTransform::getIdentity();
for (double d=0.00; d<2.5; d+=0.05)
df.visualize(d, d+0.04, "/BASE", cur, ros::Time::now());
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