Xin Zhou

I'm not quite sure about that. You could compare the original messages from the traj_server node with your messages to find the problem.

The simulator does not support yaw rate control. As for other control methods, please check [this function](https://github.com/ZJU-FAST-Lab/ego-planner/blob/fcdfc5419dcc0c93105803e6f60b1b08b4e5152d/src/uav_simulator/so3_control/src/SO3Control.cpp#L38) for the details. There are too many flags and code logics that I...

Please check that function of dozens of lines to find your solution.

I have no idea about this problem. Maybe you have to check the mapping code by yourselves.

If there are no more questions, I will close this issue.

这些部分可以参考我们的另一篇文章和它的相关代码，那里写得比较清楚 https://www.science.org/doi/10.1126/scirobotics.abm5954

so3 simulator is not easy to use. Please check [this function](https://github.com/ZJU-FAST-Lab/ego-planner-swarm/blob/8da8a01e7d01a9977306aaf2922cf85a1a3de71e/src/uav_simulator/so3_control/src/SO3Control.cpp#L38) to see what it requires.

The paper related to this controller is "Geometric tracking control of a quadrotor UAV on SE(3)". If CPU performance is the bottleneck, please replace the simulator and controller with [this...

You can just inflate the gird map a great amount in z direction.

同样问题+1