How to use LiDAR to implement path planning in a real environment using the GCOPTER.

[whuer-mspace]

 Very excellent work, how to adapt our own lidar (Ouster lidar) to use the GCOPTER in this article to make the UAV realize autonomous path planning.
 My current hardware device has a PX4 drone and a lidar (Ouster-OS1-128).
 Thanks in advance!

[chenhanpolyu]

Hi, if you have a pointcloud representation for the environment, you can use your pointcloud to replace the variable 'pc' used in the example code (global_planner.cpp) for planning a collision-free trajectory.