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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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Abnormal Behaviour using kino_replan #72

Closed Stavya1993 closed 4 years ago

Stavya1993 commented 4 years ago

FastPlannerFail

As you can see, even though there is no obstacle in front, the algorithm performs an obstacle avoiding maneuver. Just wanted to confirm how I can fix this behaviour.

Also wanted to extend my kudos to developers of this amazing algorithm!

ZbyLGsc commented 4 years ago

Have you change the max map size of the x,y,z axes? When your scene is too large the default map size may not be large enough to cover it. You may change the size in launch file.

Stavya1993 commented 4 years ago

I have, Ive set the map size to 100 in x and y and 10 in z . The command itself is to move the quad to y = 18, x= -9, z =2.

ZbyLGsc commented 4 years ago

Then I would suggest again to check the mapping module. Although in the simulator we see no obstacles, it seems the depth camera does see something and generate a 'wall' in front of it. In other word, make sure that the rendered depth image is consistent to what the drone should observe in the simulator.

Stavya1993 commented 4 years ago

Sure, Ill check that again, post it when i find something! Will close the issue with the post to help others if they are stuck with similar problems / or in a few days if I cant find anything. Thanks!