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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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When importing true envionment to kino, the simulation obstacle may display sometimes. #94

Closed note2020 closed 3 years ago

note2020 commented 3 years ago

When importing true environment to kino, the simulation obstacle may display sometimes, so the drone can't get the right trajectory. The issue shows as the following gif. kino

Thank you for your answer.

note2020 commented 3 years ago

change these paramaters in launch file
arg name="c_num" value="0" arg name="p_num" value="0"

note2020 commented 3 years ago

remove those parameters in launch file

!-- use simulator --> include file="$(find plan_manage)/launch/simulator.xml" arg name="map_sizex" value="$(arg map_size_x)"/ arg name="map_sizey" value="$(arg map_size_y)"/ arg name="map_sizez" value="$(arg map_size_z)"/ arg name="c_num" value="10"/ arg name="p_num" value="150"/

arg name="odometry_topic" value="$(arg odom_topic)" /

/include