Sending the UAV to multiple points without using 2D Nav Goal on rviz

[bharat787]

I'm trying to make the UAV go on a set path. I changed the flight_type to 2 in kino_replan.launch to use and set the preset points in kino_alogorithm.xml and kino_replan.launch. But during execution I still have to use the 2D Nav Goal button in rviz to make the UAV navigate to the next preset point.

Is there a way to make it automatically go through all the set points.

Thanks

[ZbyLGsc]

Presetting multiple points is not supported for kino_replan, the waypoints will be executed one by one; Use topo_replan instead in which you only need to trigger the planner once.

[ZbyLGsc]

If you are determined to use kino-replan, then you should modify the state machine(KinoReplanFSM) to enable continuous execution of the waypoints without using 2D Nav Goal to trigger it repeatedly.

[bharat787]

Thanks for the suggestion i'll try them out.

[bharat787]

Presetting multiple points is not supported for kino_replan, the waypoints will be executed one by one; Use topo_replan instead in which you only need to trigger the planner once.

Facing the same issue on topo_replan.

[ZbyLGsc]

Did you set flight_type=3 and set point_num and point0, point1 ... pointn properly?

[bharat787]

Did you set flight_type=3 and set point_num and point0, point1 ... pointn properly?

The comments did not mention there was a mode 3, but changing it to 3 made it work!

Thanks for the fast responses.