I am facing some problem during launching art planner. It can't start the planning. Though I am not expert, it looks like the merged pointlouds from 3 lidars on ANYmal_c are creating elevation map on top of it which is a problem. Is there a way to remove (or not included) those points on top of the robot from elevation map?? (Note: I have transformed and merged pointclouds from vlp-16, RSbpearl front and RSbpearl rear into single frame anymal_c.

arghya@arghya-Erazer-X7849-MD60379:~/ANYmal_ws$ roslaunch art_planner_ros art_planner.launch 
... logging to /home/arghya/.ros/log/b43862c4-c79a-11ec-923f-4485007e1d87/roslaunch-arghya-Erazer-X7849-MD60379-7913.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
started roslaunch server http://arghya-Erazer-X7849-MD60379:46873/

SUMMARY
========

PARAMETERS
 * /art_planner/objectives/clearance/cost_center: 5
 * /art_planner/objectives/clearance/cost_diag: 1
 * /art_planner/objectives/clearance/cost_lat: 2
 * /art_planner/objectives/clearance/cost_lon: 3
 * /art_planner/objectives/clearance/enable: False
 * /art_planner/objectives/clearance/weight: 10.0
 * /art_planner/objectives/custom_path_length/max_ang_vel: 0.5
 * /art_planner/objectives/custom_path_length/max_lat_vel: 0.1
 * /art_planner/objectives/custom_path_length/max_lon_vel: 0.5
 * /art_planner/objectives/custom_path_length/use_directional_cost: True
 * /art_planner/path_following/local_guidance_mode: walk
 * /art_planner/planner/elevation_layer: elevation
 * /art_planner/planner/lazy_prm_star_min_update/cleanup_when_not_planning: True
 * /art_planner/planner/lazy_prm_star_min_update/height_change_for_update: 0.05
 * /art_planner/planner/lazy_prm_star_min_update/invalidate_updated_graph_components: True
 * /art_planner/planner/n_threads: 4
 * /art_planner/planner/name: lazy_prm_star_min...
 * /art_planner/planner/plan_time: 0.01
 * /art_planner/planner/replan_freq: 1.0
 * /art_planner/planner/simplify_solution: True
 * /art_planner/planner/snap_goal_to_map: True
 * /art_planner/planner/start_goal_search/goal_radius: 0.5
 * /art_planner/planner/start_goal_search/n_iter: 1000
 * /art_planner/planner/start_goal_search/start_radius: 0.2
 * /art_planner/planner/traversability_layer: traversability
 * /art_planner/planner/traversability_thres: 0.5
 * /art_planner/planner/unknown_space_untraversable: True
 * /art_planner/robot/base_frame: anymal_c
 * /art_planner/robot/feet/offset/x: 0.362
 * /art_planner/robot/feet/offset/y: 0.225
 * /art_planner/robot/feet/offset/z: -0.525
 * /art_planner/robot/feet/reach/x: 0.4
 * /art_planner/robot/feet/reach/y: 0.3
 * /art_planner/robot/feet/reach/z: 0.15
 * /art_planner/robot/torso/height: 0.3
 * /art_planner/robot/torso/length: 1.07
 * /art_planner/robot/torso/offset/x: 0.0
 * /art_planner/robot/torso/offset/y: 0.0
 * /art_planner/robot/torso/offset/z: 0.04
 * /art_planner/robot/torso/width: 0.55
 * /art_planner/sampler/max_pitch_pert: 10
 * /art_planner/sampler/max_prob_unknown_samples: 0.1
 * /art_planner/sampler/max_roll_pert: 3.33
 * /art_planner/sampler/sample_from_distribution: True
 * /art_planner/sampler/use_inverse_vertex_density: True
 * /art_planner/sampler/use_max_prob_unknown_samples: True
 * /art_planner/verbose: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    art_planner (art_planner_ros/art_planner_ros_node)
    art_planner_plan_to_goal_client (art_planner_ros/plan_to_goal_client.py)

ROS_MASTER_URI=http://localhost:11311

process[art_planner-1]: started with pid [8180]
process[art_planner_plan_to_goal_client-2]: started with pid [8181]
Waiting for plan_to_goal server to appear...
Found server.

[ INFO] [1651226340.044097554, 419.200000000]: Received goal pose:
header: 
  seq: 2
  stamp: 418.604000000
  frame_id: odom
pose: 
  position: 
    x: 25.4173
    y: -4.3785
    z: 0
  orientation: 
    x: 0
    y: 0
    z: 0.0229904
    w: 0.999736

Grid map does not have "traversability" layer. Assuming traversable.
Invalidated 0 vertices
Invalidated 0/0 edges
Initial start state not valid. Trying to sample around it.

Epic fail, dude
Warning: LazyPRMstar: Skipping invalid start state (invalid state)
         at line 248 in /tmp/binarydeb/ros-melodic-ompl-1.4.2/src/ompl/base/src/Planner.cpp
Debug:   LazyPRMstar: Discarded start state Compound state [
RealVectorState [23.8531 -4.45529 -0.376203]
SO3State [-0.0396322 0.0409409 -0.0359117 0.997729]
]

Error:   LazyPRMstar: There are no valid initial states!
         at line 513 in /home/arghya/ANYmal_ws/src/art_planner/art_planner/src/planners/lazy_prm_star_min_update.cpp
Info:    No solution found after 0.000294 seconds

There is a warning on elevation mapping node:

arghya@arghya-Erazer-X7849-MD60379:~/ANYmal_ws$ roslaunch elevation_mapping_demos anymal_c_elevation_mapping.launch 
... logging to /home/arghya/.ros/log/b43862c4-c79a-11ec-923f-4485007e1d87/roslaunch-arghya-Erazer-X7849-MD60379-32616.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
started roslaunch server http://arghya-Erazer-X7849-MD60379:46457/

SUMMARY
========

PARAMETERS
 * /elevation_mapping/enable_visibility_cleanup: False
 * /elevation_mapping/fused_map_publishing_rate: 0.5
 * /elevation_mapping/init_submap_height_offset: 0.01
 * /elevation_mapping/initialization_method: 0
 * /elevation_mapping/initialize_elevation_map: False
 * /elevation_mapping/length_in_x: 6.0
 * /elevation_mapping/length_in_x_init_submap: 1.0
 * /elevation_mapping/length_in_y: 6.0
 * /elevation_mapping/length_in_y_init_submap: 1.0
 * /elevation_mapping/mahalanobis_distance_threshold: 2.5
 * /elevation_mapping/map_frame_id: odom
 * /elevation_mapping/margin_init_submap: 0.3
 * /elevation_mapping/max_variance: 0.05
 * /elevation_mapping/min_update_rate: 2.0
 * /elevation_mapping/min_variance: 0.0001
 * /elevation_mapping/multi_height_noise: 0.001
 * /elevation_mapping/point_cloud_topic: /anymal_c/combine...
 * /elevation_mapping/position_x: 0.0
 * /elevation_mapping/position_y: 0.0
 * /elevation_mapping/postprocessor_pipeline: [{'type': 'gridMa...
 * /elevation_mapping/resolution: 0.1
 * /elevation_mapping/robot_base_frame_id: anymal_c
 * /elevation_mapping/robot_motion_map_update/covariance_scale: 0.01
 * /elevation_mapping/robot_pose_cache_size: 200
 * /elevation_mapping/robot_pose_with_covariance_topic: /loam/pose
 * /elevation_mapping/scanning_duration: 1.0
 * /elevation_mapping/sensor_processor/beam_angle: 0.0006
 * /elevation_mapping/sensor_processor/beam_constant: 0.0015
 * /elevation_mapping/sensor_processor/ignore_points_above: 0.6
 * /elevation_mapping/sensor_processor/min_radius: 0.018
 * /elevation_mapping/sensor_processor/type: laser
 * /elevation_mapping/surface_normal_positive_axis: z
 * /elevation_mapping/target_frame_init_submap: anymal_c
 * /elevation_mapping/time_offset_for_point_cloud: 0.0
 * /elevation_mapping/time_tolerance: 1.0
 * /elevation_mapping/track_point_frame_id: anymal_c
 * /elevation_mapping/track_point_x: 0.0
 * /elevation_mapping/track_point_y: 0.0
 * /elevation_mapping/track_point_z: 0.0
 * /elevation_mapping/visibility_cleanup_rate: 1.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    elevation_mapping (elevation_mapping/elevation_mapping)

ROS_MASTER_URI=http://localhost:11311

process[elevation_mapping-1]: started with pid [344]
[ WARN] [1651227229.356009704]: Could not find the parameter: `algorithm`. Setting to default value: 'area'.
[ WARN] [1651227229.358008454]: Could not find the parameter: `parallelization_enabled`. Setting to default value: 'false'.
[ WARN] [1651227229.358576404]: Could not find the parameter: `thread_number`. Setting to default value: 'automatic'.
[ INFO] [1651227229.361199922]: Elevation mapping node started.
[ INFO] [1651227229.387342299]: Elevation map grid resized to 60 rows and 60 columns.
[ WARN] [1651227229.429014591]: Could not load the input sources configuration from parameter
 /elevation_mapping/input_sources, are you sure it was pushed to the parameter server? Assuming
 that you meant to leave it empty. Not subscribing to any inputs!

[ WARN] [1651227229.430182369]: Parameter 'point_cloud_topic' is deprecated, please use 'input_sources' instead.
[ INFO] [1651227229.449461756]: Elevation mapping node initializing ... 
[ WARN] [1651226932.425124466, 488.204000000]: Estimation radius is smaller than allowed by the map resolution (0.050000 < 0.050000)

Hi, thanks for open sourcing your work. I can reproduce this package cerberus_anymal_locomotion. Is there any walk through tutorial on how to integrate this package with ANYmal B/C ??

Hi, I am looking for a minimum working demonstration with visualisation.

Your readme states

We provide a launch file which should be everything you need, if you work with ANYmal.

and

You can use the 2D Nav Goal in RViz to set a goal pose for the planner.

which suggests there is an external ANYmal simulator/ros package that this compatible with. But I am unfamiliar with that.

Are you able to provide guidance on how to run this with that simulator if it exists?