kr_autonomous_flight
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KumarRobotics
Fix A star error in JPS3D/graph_search.cpp
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 happening and fix it. Removing the printf is not acceptable.
Hi, I'm trying to reproduce this error, is there any known scenerios in which this occurs?
Hi Orland, It’s hard to say what exact scenario causes this. But have you tried to build the stack and run in the simulator? If not, I would recommend doing that first, and try bunch of flights in different cluttered environments (eg forests).
Hi Xu, yes I have run the simulator with the base environment which does have a quite of bit of trees. After setting a few waypoints I have only been able to see the error once, but I did not notice what trajectory or situation could have caused it. I have not been able to reproduce it, which is why I was wondering if there was any know situation in which it occured.
Is the JPS3D code in this repository based off of https://github.com/KumarRobotics/jps3d ? I git diffed the graph_search.cpp files in both repos and there seems to only be formatting differences. Since they both have this printf("ASTAR ERROR!\n");, I was thinking that I could run more repeatable test cases on this isolated repo instead to make debugging quicker. Would you recommend I do that or advise against it?
Would you have any other recommendations?
I see. Yes that’s correct! In general, yes I think it’s a good idea use the isolated repo to identify the issues first, I am not very sure if you’ll run into this issue by running the JPS alone though. Maybe you can pick another issue to solve instead? Next time when I get the issue I will note down what exact scenario it is.
Alright, thank you for the feedback. I'll look at some other issue for now and come back to this in the future