PX4-Avoidance
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PX4
RRT global planner
Hello,
This pull request is the continuation of #453 . The main changes are:
RRT star is used to generate global paths; Octomap is used as the map framework; The drone's yaw is set to the direction of the path;
There are some issues to discuss:
The controller works in a time-based loop where the setpoint is just the next point of the path. It leads to non-smooth motion of the drone. Need to discuss how to give waypoints to the controller. Parameters are now hardcoded. Need to discuss where to put them. Launch file, YAML or dynamic reconfig?
Thank you.
Hello,
I can send you a video with the expected result from the implementation. I don't have any idea of what caused the missing EOF.
https://user-images.githubusercontent.com/48806267/159032456-01fd0e64-b43d-4b30-81fc-043f5ffb9ddb.mp4
The planner works fine. The drone crashed in the end due to:
Octomap obstacles should be inflated The controller is very basic.
I don't have any idea of what caused the missing EOF.
https://stackoverflow.com/questions/729692/why-should-text-files-end-with-a-newline You should add a newline at the end of each file
Octomap obstacles should be inflated The controller is very basic.
Okay, we need to fix these issues before we can merge it in
@Jaeyoung-Lim Okay. I will fix the octomap inflation, the controller as well as the EOF.
