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HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
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Some questions about using fast planner with quad copter in SITL #53

Closed haolong12321 closed 4 years ago

haolong12321 commented 4 years ago

hello, First of all, I wanted to say great work with the repo and papers!

I'm testing the kino algorithm with Gazebo SITL and having some issues. I uploaded a video taken from rviz : https://streamable.com/rb17d1 The red arrow is the odometry from the quad copter in Gazebo vs. the planned traj of the planner. There is a noticeable "overshooting" of the drone trajectory, that may possibly lead to failures in avoiding obstacles. I've configured the drone's FCU (we use arducopter) to be as "fast" as it can be (in roll, pitch, yaw), however the generated trajectories are still not feasbile for the drone. When I decrease the max_acc and max_vel parameter in the launch file it's gets a bit better but the drone is still unable to perform the exact traj (especially the yaw rate). could you help me try to optimize the planned path to fit to my drone's performance? Is there something I'm missing?

ZbyLGsc commented 4 years ago

What you describe is not a problem of the planner, it is a control problem, i.e., the real pose can not catch up with the desired pose. Given a good trajectory tracking controller, such as the one used in our simulator, the drone should be able to follow the trajectory well, therefore I suggest you to check the controller used in Gazebo.