Real Environment Deploy

[Krasjet-Yu]

Hello, I would like to ask what causes the following problems when I am deployed to the real environment? I have checked plane_OccMap and globalMap, where plane_OccMap is -1, 99, 100, what do they mean respectively, while /globalMap is -1 and 100, which causes Centroid to not be found in window. Where do you start with that?

[ INFO] [1731619796.054955314]: The current window has no centroid, expand the exploration window size.
[ WARN] [1731619796.055071958]: [NO CENTROIDS]: There are almost no explorable unknown regions!

[qingchen-bi]

100 indicates a completely impassable area. -1 represents the unknown area, and the plane_OccMap should have values ranging from 0 to 99, indicating areas where travel is possible. The higher the number, the more dangerous it is. The unknown area that can be explored should be adjacent to the passable area. It is recommended to first review the code for generating the plane_OccMap in the fitplane module to ensure that it is aligned with the topic names for the odometry and the point cloud map, and that the data types are correct. Additionally, adjust the max_angle_, max_flatness_, and w1_ parameters to identify the source of the problem.