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Published 20 hours ago • verified publisher icon ZJU-FAST-Lab

Prior Map

Open vivek-uka opened this issue 1 year ago • 1 comments

Hi,

I am testing your algorithm in an office-like environment. It looks like your approach gets stuck in local minima. Specifically, the high-level planner is unable to find a solution around a long wall. Is there a way to provide global map information?

Video: https://youtu.be/I7T1-zKq7zI

Thanks!

vivek-uka avatar Jul 11 '23 22:07 vivek-uka

Hi Vivek,

Originally EGO-Planner is a local ESDF free planner that can avoid small obstacles. It is not a good solution to your problem, especially in office environments with long walls. In pratice, we give the planner some prior waypoints to navigate in such environments. To achieve this, you may consider passing some waypoints through this function:

https://github.com/ZJU-FAST-Lab/ego-planner-swarm/blob/30de3c9e11e6a2e06d81561f9364f07ceba6774b/src/planner/plan_manage/src/planner_manager.cpp#L377

and specify number of waypoints here:

https://github.com/ZJU-FAST-Lab/ego-planner-swarm/blob/30de3c9e11e6a2e06d81561f9364f07ceba6774b/src/planner/plan_manage/launch/advanced_param.xml#L71

Best,

siyuanwu99 avatar Dec 13 '23 05:12 siyuanwu99