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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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trajectory through the obstacle #88

Open buenos-dan opened 3 years ago

buenos-dan commented 3 years ago

This issue may be as same as issue #69. I record a video as follows, and I wonder where goes wrong?

https://user-images.githubusercontent.com/36566377/103113611-7eb8a180-4696-11eb-817d-83b2ccb7f201.mp4

I modify the kino_replan.launch file as follows:

  1. \<arg name="odom_topic" value="/mavros/local_position/odom" />
  2. \<arg name="cloud_topic" value="/camera/depth/points"/>
  3. \<param name="sdf_map/frame_id" value="base_link"/> //kino_algorithm.xml

Btw, the frame size is 640*480. Thanks for your help.

ZbyLGsc commented 3 years ago

It is the problem of coordinate system. As you can see, the obstacle moves when the drone flies forward, which is clearly problematic.

ZbyLGsc commented 3 years ago

You should specify the topic of cloud in the world frame instead of the body frame.

iamrajee commented 2 years ago

We are also facing a similar issue in SITL while trying out beomsu7's fork. Any resolution?

https://user-images.githubusercontent.com/25712145/172568365-0666c820-42fd-4b14-9fa5-bbdccc1a3d8c.mp4