Xin Zhou

What do you mean?

What differences do you want

I am not sure if you can read Chinese. If you do, this is the tutorial for building the real droen. https://www.bilibili.com/video/BV1WZ4y167me?spm_id_from=333.788.videopod.episodes&vd_source=642e317ba045167a6e465e4717703d53

The planner defaults to having the drone follow the trajectory at all times, it does not check whether the drone successfully adheres to the trajectory.

用valgrind或gdb工具看看是咋回事儿？找到问题了可以在这更新一下信息

Sorry but I can not remember that clearly... My experience is, different implementations just produce similar results

Unfortunately there is no ROS2 version for real-flight modules.

Yes, ego-planner does not support multi-threading

Part of the code can be found [here](https://github.com/ZJU-FAST-Lab/ego-planner-swarm/blob/30de3c9e11e6a2e06d81561f9364f07ceba6774b/src/planner/plan_manage/src/ego_planner_node.cpp#L51). Parallelization causes some crashes occasionally and as you can see we commented them in the last.

There is no such a guide. Fortunately, our simulator code is easy to read and doesn't dependent on any other closed-source libraries. Therefore, you are encouraged to read the code...