[Rock-dev] [rock] #303: Envire SimpleTraversability Operator fails if the obstacle areas become to large

[rock]

#303: Envire SimpleTraversability Operator fails if the obstacle areas become to
large
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 Reporter:               |      Owner:  rock-dev-mailing-list
  stefan.haase@…         |     Status:  new
     Type:  defect       |  Milestone:
 Priority:  major        |   Keywords:  envire traversability operator
Component:  toolchain    |  obstacle
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 I got the BOOST_ASSERT(size_type(idx - index_bases[0]) < extents[0]);
 using the SimpleTraversability operator. It happens here:
 slam/envire/src/operators/SimpleTraversability.cpp in line 374:
 data[ty][tx] = CLASS_OBSTACLE;

 This seems to happen if the obstacle areas become to large. E.g. this
 still works, but it is hard on the edge:
   weight_force: 40.0
   force_threshold: 20.0
   class_count: 10
   min_width: 0.5
   ground_clearance: 0.3
   obstacle_clearance: 0.75

 With weight_force 60 or force_threshold 10 or obstacle_clearance 2.0 it
 runs into the assertion.

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Ticket URL: <http://rock.opendfki.de/ticket/303>
rock <http://rock.opendfki.de>
rock: the robot construction kit