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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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Unable to change height #71

Closed Stavya1993 closed 4 years ago

Stavya1993 commented 4 years ago

Using the kino_replan, I am using the /move_base_simple/goal to move the drone. Whenever, I change only the height of the system, the kino_replan fails to find trajectory. Additionally, it doesnt seem to change the height when x and y are also changed. I have changed the virtual cieling height to 10 in the kino_algorithm.launch file.

ZbyLGsc commented 4 years ago
  1. /move_base_simple/goal will set the height to a fixed value by default, since it is not convenient to specify the height with it.
  2. There is a known issue: when the target x,y position is identical to the current x,y position the planner may not find paths.
ZbyLGsc commented 4 years ago

Currently one can only specify the target height by the preset waypoints in the launch file.

Stavya1993 commented 4 years ago

Thanks. This makes sense!