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ArduPilot / OctomapPlanner

ArduPilot Gazebo SITL 3D mapping and planning
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Description missing all the requirements & Segmentation fault #7

Open SwiftGust opened 5 years ago

SwiftGust commented 5 years ago

I'm trying to use OctomapPlanner following manual. This repository does not include how, what to install exact requirements to build this repo enough yet. Missing packages are OpenCV, PCL so far.

OpenCV can be installed with sudo apt-get install ros-kinetic-opencv3

PCL can be installed with sudo apt-get install ros-kinetic-pcl-ros

And there's another problem here launching main node keeps me segfault after RRT* Algorithm fails.

/home/jmarple/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 4.81467
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 4.88444
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 4.95422
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 5.024
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 5.09378
/home/jmarple/OctomapPlanner/src/arduplanner.cpp replanCb: Line 229: Replanner called
/home/jmarple/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/jmarple/OctomapPlanner/src/Planner.cpp setGoal: Line 139: Goal state: 5 1 1 invalid
/home/jmarple/OctomapPlanner/src/Planner.cpp setStart: Line 112: Start point set to: 2.21468 2.24673 -0.149314
/home/jmarple/OctomapPlanner/src/Planner.cpp replan: Line 180: Replanning
Warning: InformedRRTstar: Skipping invalid start state (invalid bounds)
         at line 253 in /tmp/binarydeb/ros-kinetic-ompl-1.2.3/src/ompl/base/src/Planner.cpp
Debug:   InformedRRTstar: Discarded start state RealVectorState [2.21468 2.24673 -0.149314]

Error:   InformedRRTstar: There are no valid initial states!
         at line 200 in /tmp/binarydeb/ros-kinetic-ompl-1.2.3/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
/home/jmarple/OctomapPlanner/src/Planner.cpp plan: Line 216: No solution found
/home/jmarple/OctomapPlanner/src/arduplanner.cpp replanCb: Line 246: New plan generated
Segmentation fault (core dumped)

Great works though. Please keep up the work.

SwiftGust commented 5 years ago

Looks like Segmentation fault only happens vehicle does not move so the RRT algorithm fails. This could be handled once vehicle is armed and ready to move. But description is little bit unnoticeable. Giving specific instruction would be nicer. i.e, after SITL launch

mode guided
arm throttle
takeoff 1 ( ~ 2 )

I think this can be used with 2D scanning LiDAR without look around motion for initial mapping. and I'd like to improve User Interface, using RViz instead of parsing yaml.

ayushgaud commented 5 years ago

Hi @SwiftGust I am glad to know that you have been using this project. Regarding 2D LiDAR, yes we can use any input source which can give us pointcloud data. I was more interested in using RealSense but I don't have one with me right now. I would also like to provide support for other sensors too. We can use RViz but I will have to look into it because I haven't used it without ROS. Maybe with some plugins, a nice GUI can be developed, just like MoveIt. I'll look forward to a more detailed discussion on what can be done for the GUI