1. Ekumen Avatar Ekumen
  2. terminus
  3. terminus-simulation
  4. Issues

[Research] Constraints in roads

Issue #43 resolved
Agustin Alba Chicar created an issue

Problem in roads through markers. See #31

Comments (24)

  3. Agustin Alba Chicar reporter

    Markers branch has been merged to default, so a new compilation is being triggered and code will be evaluated against this new version.

  5. Agustin Alba Chicar reporter

    @andres_fortier , @JChoclin:

    Some improvements to point out. Julian found that the problem is that triangle couples that make a parallelogram are the problem. Randomly, the verteces are being changed so roads like below are being constructed:

    A.png

    B.png

    Just for debuggin purposes, I have changed the height of each triangle so as to make a "visual debug".

    The following table shows how the points are created and sent to the message, they all match.

    Checkpoints.png

    Testing here should be done on this topic.

  13. Andrés Fortier

    Whoa, great team research! One question: what do you mean when you say that vertices are being randomly changed? Like we send them in the proper order and Gazebo changes them somehow? Or are we rearranging them after parsing?

  14. Agustin Alba Chicar reporter

    @andres_fortier roads constraints were solved in PR #25. After including tests to the road extent calculation we, with Julian, found the issue and solved it. At the same time we were working with OSRF to get this working. We are keeping this issue open because OSRF may want to see it as we gave them the link. Now, we are trying to solve a problem that makes Gazebo crash with certain textures with them and working on the same branch.

  25. Log in to comment
Assignee
Type
bug
Priority
major
Status
resolved
Component
SP 2
Votes
0
Watchers
1
Jira: the preferred issue tracker for Bitbucket. Join the team!