RRT global planner #672
RRT global planner #672
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@brunopinto900 Before I dive into the PR further,
- Do you have logs/videos that show the overall behavior of the implementation? I would like to see if what I see in my setup is consistent with what you have implemented
- There seems to be some EOF missing from the file. (Probably from my PR before)
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.
I would say the best way for now is to work with line segments and follow them as a reference "path". This can be done by getting the closest point on the line segment and using it as a reference
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| ros::spin(); | ||
| return 0; | ||
| } |
| } | ||
| } | ||
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| } |
| double planYaw(); | ||
| }; | ||
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| #endif |
| }; | ||
| } // namespace ompl | ||
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| #endif |
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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. |
screenrecording.1.mp4The planner works fine. The drone crashed in the end due to: Octomap obstacles should be inflated |
https://stackoverflow.com/questions/729692/why-should-text-files-end-with-a-newline You should add a newline at the end of each file
Okay, we need to fix these issues before we can merge it in |
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@Jaeyoung-Lim Okay. I will fix the octomap inflation, the controller as well as the EOF. |
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When will be merged? |
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.