Can Tare algorithm work with RGBD only?

[frischzenger]

the inpute of TARE is lidar, but Can Tare algorithm work with RGBD only? like FUEL with RGBD only to path planning, thanks for reply

[altineller]

I was wondering the same question whether tare_planner could be used with a rgbd or similar sensor or even another lidar that does not scan 360 degrees such as velodyne. To test I reduced the max and min angles of the velodyne sensor in the urdf, making it 150 degrees wide, the algorithm in the simulation environment failed to produce acceptable results. The robot would crash backwards, etc. Maybe tare planner has some setting about this?

What other sensors other than velodyne can tare_planner use?

Best Regards.
C.A.

[caochao39]

Hi, the lidar_model assumes a 360 horizontal FOV

tare_planner/src/tare_planner/include/lidar_model/lidar_model.h

Line 265 in 67c62fc

static const int kHorizontalFOV = 360;

. You might need to modify that for your purpose. However, I have not personally experimented with other types of sensors, e.g. depth sensors, and there are chances that it might not work well with them or require further modification of the code.

[ForestWang]

Hi, the lidar_model assumes a 360 horizontal FOV

tare_planner/src/tare_planner/include/lidar_model/lidar_model.h

Line 265 in 67c62fc

static const int kHorizontalFOV = 360;

. You might need to modify that for your purpose. However, I have not personally experimented with other types of sensors, e.g. depth sensors, and there are chances that it might not work well with them or require further modification of the code.

Could itKeep moving forward always，or just turn left or right, not go back？ and how I change the code? Thanks a lot！