Changing target pose on the way

HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors

GNU General Public License v3.0

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Changing target pose on the way #31

Closed mzahana closed 4 years ago

mzahana commented 4 years ago

Hi @ZbyLGsc When I try to publish a new goal waypoint to /move_base_simple/goal while the drone is already on its way to a previous one, it does not change its trajectory to the new one and just continues to complete flying to the current goal. Is there a way to make the drone abort the current goal and change to the new one?

ZbyLGsc commented 4 years ago

Yes, use the kino_replan directly, or modify the FSM of topo_replan. @mzahana