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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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How to change target height? #9

Closed GigaFlopsis closed 4 years ago

GigaFlopsis commented 5 years ago

Now your algorithm sets a fixed height (1m) independent of the target height. can I fix this?

ZbyLGsc commented 5 years ago

@GigaFlopsis You can change the height to any value you like. Please set the "wp_z" in the simulation.launch for this purpose.

ZbyLGsc commented 5 years ago

@qmoji Actually the simulation has two different modes: FLIGHT_TYPE::PRESET_GOAL and FLIGHT_TYPE::MANUAL_GOAL. The line you marked is related to the MANUAL_GOAL mode, but does not influence the PRESET_GOAL mode, the height for the PRESET_GOAL mode is set in the .launch file.

The reason for setting the height to 1 in PRESET_GOAL mode is that, using the 3D plugin, it is not easy to choose the height accurately. To avoid unreasonable height (caused by the inaccurate selection), I set the height to 1 directly. If you have some good ideas to set the height, feel free to change this line to use the msg->poses[0].pose.position.z .

GigaFlopsis commented 5 years ago

You can try use this interactive marker https://www.youtube.com/watch?v=i1Cbbq-XMGQ https://github.com/GigaFlopsis/ros_swarm_control/blob/px4_drone/swarm_control/src/marker_server.cpp

ZbyLGsc commented 5 years ago

@GigaFlopsis Thanks for your suggestion. I do know that RVIZ has very similar 3D marker. I may integrate it into this project later.