{"action":"created","issue":{"url":"https://api.github.com/repos/ethz-asl/rotors_simulator/issues/282","repository_url":"https://api.github.com/repos/ethz-asl/rotors_simulator","labels_url":"https://api.github.com/repos/ethz-asl/rotors_simulator/issues/282/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/rotors_simulator/issues/282/comments","events_url":"https://api.github.com/repos/ethz-asl/rotors_simulator/issues/282/events","html_url":"https://github.com/ethz-asl/rotors_simulator/issues/282","id":133038695,"number":282,"title":"Wrong octomap generation","user":{"login":"jvgomez","id":1914508,"avatar_url":"https://avatars.githubusercontent.com/u/1914508?v=3","gravatar_id":"","url":"https://api.github.com/users/jvgomez","html_url":"https://github.com/jvgomez","followers_url":"https://api.github.com/users/jvgomez/followers","following_url":"https://api.github.com/users/jvgomez/following{/other_user}","gists_url":"https://api.github.com/users/jvgomez/gists{/gist_id}","starred_url":"https://api.github.com/users/jvgomez/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jvgomez/subscriptions","organizations_url":"https://api.github.com/users/jvgomez/orgs","repos_url":"https://api.github.com/users/jvgomez/repos","events_url":"https://api.github.com/users/jvgomez/events{/privacy}","received_events_url":"https://api.github.com/users/jvgomez/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-02-11T17:43:04Z","updated_at":"2016-02-11T21:36:01Z","closed_at":null,"body":"Hi,\r\n\r\nI am using an adapted version of the octomap plugin (basically, I just created a package out of the necessary code from the master branch at today's state). The octomap visualized in Octoviz is not as it should, creating like stripes of fully occupied/fully empty spaces, as shown in this image:\r\n![screenshot from 2016-02-11 18 39 49](https://cloud.githubusercontent.com/assets/1914508/12984646/f45cd76c-d0ee-11e5-9c13-d8531a498931.png)\r\n\r\n[I am attaching the mesh. ](https://github.com/ethz-asl/rotors_simulator/files/126809/warehouse.zip). It would be great if somebody can check and tell whether they have the same problem. I've found more examples of faulty meshes and cases in which the octomap looks great.\r\n\r\n\r\nOr if somebody can guess where the problem is I would investigate further."},"comment":{"url":"https://api.github.com/repos/ethz-asl/rotors_simulator/issues/comments/183067713","html_url":"https://github.com/ethz-asl/rotors_simulator/issues/282#issuecomment-183067713","issue_url":"https://api.github.com/repos/ethz-asl/rotors_simulator/issues/282","id":183067713,"user":{"login":"helenol","id":5616392,"avatar_url":"https://avatars.githubusercontent.com/u/5616392?v=3","gravatar_id":"","url":"https://api.github.com/users/helenol","html_url":"https://github.com/helenol","followers_url":"https://api.github.com/users/helenol/followers","following_url":"https://api.github.com/users/helenol/following{/other_user}","gists_url":"https://api.github.com/users/helenol/gists{/gist_id}","starred_url":"https://api.github.com/users/helenol/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/helenol/subscriptions","organizations_url":"https://api.github.com/users/helenol/orgs","repos_url":"https://api.github.com/users/helenol/repos","events_url":"https://api.github.com/users/helenol/events{/privacy}","received_events_url":"https://api.github.com/users/helenol/received_events","type":"User","site_admin":false},"created_at":"2016-02-11T21:36:01Z","updated_at":"2016-02-11T21:36:01Z","body":"Hi Javier,\r\nThis is a known issue, especially when several objects are close together or share the same edge due to the way the the raycasting is done when generating the octomap.\r\n\r\nIf you are interested in improving the octomap generation, I'm sure that would be very appreciated by all. :)\r\n\r\nA few things I can think of to try would be decreasing the leaf size here: https://github.com/ethz-asl/rotors_simulator/blob/master/rotors_gazebo_plugins/src/gazebo_octomap_plugin.cpp#L177 or actually taking a deeper look into how the ray casting is done."}}