kr_autonomous_flight
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KumarRobotics
KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors
In order to address #133, it is useful for the messages used by the planner to be independent from the rest of the stack so that kr_mav_control can link against...
Currently, the global and local map z-axis ranges are assumed to be the same (or very similar). Therefore, the bottom (i.e. z-axis origin) of the local voxel map is just...
**Current status:** ` printf("ASTAR ERROR!\n");` is called in `grap_search.cpp`. This does not seem to affect the performance of the stack. **Ideal scenario:** we would like to understand why this is...
Currently, the default values for occupied, even, unknown and free voxels are hard-coded, respectively, as val_occ, val_even, val_unkonwn, and val_free. The planner and mapper have a consensus on the hard-coded...
It would be good to test and compare the odometry performance with different combinations of sensors, including (1) stereo-VIO-only (2) stereo-VIO + GPS. One option is to directly feed GPS...
We have tried the integration of LIDAR odometry into UKF, using [LLOL](https://github.com/versatran01/llol). We successfully flew waypoint missions, using LIDAR only for both odometry and mapping (i.e. no cameras were needed...
Reinitialize the global and storage maps to be centered around the robot after it moves a certain distance, so that the robot can handle arbitrarily large environments
Currently, the mapper is a node that keeps publishing global and local maps regardless of whether any node is using them. This results in unnecessary message publication and computation (e.g....
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KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors