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Summit excavation: NavMap from the world's collision mesh - #4
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The excavation NavMap was meshed from a 0.3 m voxel cloud by the old from_points: no surfaces, an overlapping mesh and a 0.26 m height error. It is now meshed with the multi-level from_points at 1 m from a uniform sample of the world's collision mesh in the map frame (maps/excavation_urjc_world.pcd): one main surface, manifold, 1 cm median and 6 cm p90 height error against the collision mesh. Fixes #3 Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Fixes #3
maps/excavation_urjc.navmapis regenerated from the world's collision mesh with the multi-levelfrom_points(EasyNavigation/NavMap#31). The file format is unchanged: the new map loads with the current NavMap too.maps/excavation_urjc_world.pcd(524 582 points, 6 MB, binary). It is a uniform sample (20 points/m²) ofmodels/urjc_excavation/meshes/URJC_excavation.stl, in the map frame: the mesh is raised 5.77 m so that z = 0 is the terrain under the spawn point.maps/excavation_urjc.pcd(the Bonxai cloud for the AMCL) is unchanged.Against the collision mesh:
The README of the worlds package documents how the maps were built.
Battery,
summit_bonxai_amcl(with this map): FINISHED, 0.60 m goal error, the same as before. The error comes from the localization (0.3 m), which this PR does not touch.