Exploration completed, returning home issue

[valenbase]

hi:
first, thanks for sharing the works.
when I test the code on the real robot, it runs so shortly about ten meters, then returns to the home point.
the simulator works well,can you give me more information?

[HongbiaoZ]

Hi,
Thanks for using my work. What is the height of your robot and is the environment pretty narrow? If the center of the sensor on the robot is close to the ground, it might take the ground as obstacles. There is a parameter in octomap config file that controls the resolution of the map. You might need to change that resolution to make it work if the sensor on your robot is close to the ground. By the way, you need to change the "kBoundX, kBoundY, kBoundZ" in exploration config file to the size of your robot. If the sensor is not high (<0.5m), then I suggest you set kBoundZ, which controls the collision check range around the center of the sensor, to 0.
Hope my suggestion is useful to you.

[valenbase]

Hi, Thanks for using my work. What is the height of your robot and is the environment pretty narrow? If the center of the sensor on the robot is close to the ground, it might take the ground as obstacles. There is a parameter in octomap config file that controls the resolution of the map. You might need to change that resolution to make it work if the sensor on your robot is close to the ground. By the way, you need to change the "kBoundX, kBoundY, kBoundZ" in exploration config file to the size of your robot. If the sensor is not high (<0.5m), then I suggest you set kBoundZ, which controls the collision check range around the center of the sensor, to 0. Hope my suggestion is useful to you.

Thanks，I will check the parameter

[valenbase]

Hi, Thanks for using my work. What is the height of your robot and is the environment pretty narrow? If the center of the sensor on the robot is close to the ground, it might take the ground as obstacles. There is a parameter in octomap config file that controls the resolution of the map. You might need to change that resolution to make it work if the sensor on your robot is close to the ground. By the way, you need to change the "kBoundX, kBoundY, kBoundZ" in exploration config file to the size of your robot. If the sensor is not high (<0.5m), then I suggest you set kBoundZ, which controls the collision check range around the center of the sensor, to 0. Hope my suggestion is useful to you.

I think the problem is there is no new target point to be generated except the origin. the robot returns home after reaching the origin.

[ForestWang]

Referenc

have you resolved the issue?