Not able to view Reachability Map on RVIZ

[youliangtan]

Hi, this is the first attempt for me to try this pkg. I am currently using it with https://github.com/iROSA-lab/sampled_reachability_maps . (ros noetic on ubuntu 20.04)

I followed the README instructions in running the code. However I'm not able to view any of the samples in rviz. As you can see from the screenshot, the reachabilitymap msg is received. With a quick rostopic echo, I'm able see points in the msg printout. Would kindly need help on this. Thanks in advance

[sjauhri]

Hello, sorry for the late response. Is your rviz node connected to the same ROS master?

[youliangtan]

Yes the rviz node is connected to the same ROS master.

I'm no longer working on this project, so if anyone is working on this feel free to followup on this thread.

[davizinho5]

Hello, I'm having a similar problem.

I started with the same problem as @youliangtan.
Then I managed to load the robot model using the tutorials from Tiago++.

Now, I have no errors, and messages are arriving to ReachabilityMap topic.
However, I cannot see the map, only the robot.

I have executed acoding to your instructions
I have the same configuration (alpha, size, and so on...) of visualization as in the image of your Readme.

Would you happen to know why is this?

Best

[lexidliny]

Hello, I'm having a similar problem.

I started with the same problem as @youliangtan. Then I managed to load the robot model using the tutorials from Tiago++.

Now, I have no errors, and messages are arriving to ReachabilityMap topic. However, I cannot see the map, only the robot.

I have executed acoding to your instructions I have the same configuration (alpha, size, and so on...) of visualization as in the image of your Readme.

Would you happen to know why is this?

Best

Hi, this is due to different TF versions in ROS. ROS Noetic uses TF2, and in TF2, the naming convention for frame_id does not include a backslash "\".
So what you need to do is to remove the ''\'' in https://github.com/iROSA-lab/reachability_map_visualizer/blob/4efc5d511c3fd7ad1bfcab28c0ea0e61465a9100/src/load_reachability_map.cpp#L39C15-L39C24.

[davizinho5]

Thanks a lot @lexidliny, that was exactly the problem.

[robonrrd]

I also had this issue, but my solution was slightly different. I am on ROS Kinetic and I had to edit the line lexidliny mentions above (load_reachability_map.cpp:39) to read "/base" instead of "/base_footprint". I don't know if this is Kinetic-specific or because the URDF model of my robot (a Baxter) was built that way.