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HJReachability / meta_fastrack

ROS implementation of meta planning + FaSTrack!
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Portable to navigation stack? #4

Open soseazi opened 4 years ago

soseazi commented 4 years ago

Dear author,

I was wondering if the Meta-FaSTrack would be able to be ported to the global planner in ROS Navigation stack.

I had a glance at both FaSTrack and the Meta-FaSTrack.

However, for my concern is that, since it looks like the code is pretty much optimized to the quadrotor, I am not sure where to tweak the process.

So, would it be possible for you to provide me some suggestions, where I could begin the tweaking for it to be able to be applied to mobile robot platforms (e.g. turtlebot3)?

Thanks,

dfridovi commented 3 years ago

Apologies for the very tardy response... Not sure how this got missed, or if you are still interested in pursuing this direction. In short, both algorithms are, at the end of the day, control algorithms which run on top of (in meta-fastrack's case, a customized) kinematic planner (of which there are many, e.g., in the OMPL. Our quadrotor-specialization should not be too hard to replace with another platform - our intent, esp. in the fastrack repo, is to be platform-agnostic.