[ERROR] : No path to next viewpoint

[zhouruihhxxttxs]

Hello, hank you for your open source code, but I have some errors when running this program, please help me solve them:

1. When I run the node "roslaunch airsim_ros_pkgs airsim_node.launch", the drone will take off, but after running "roslaunch exploration_manager recon.launch", the drone will fall and twitch. My airsim is version 1.7.0.
2. No matter how I use 2D Nav Goal in Rviz to specify the direction, the drone will not start and prompt:

Triggered! [triggerCallback]: from WAIT to PLAN

start_pt_x:1.96763e-07 start_pt_y:-0.000281642 start_pt_z:-0.00248134 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:1.31114ms ts_ms:5.38093ms vec_ms:0.028172ms

1432 [ WARN] [1729847843.263506683]: Visit Cloud! visit_num:7752 0.2003 Surface_Prediction_Time:51.9448ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.151ms -----------cluster_size:20 CEC_time:4.07164ms visibility_time:0.075573ms cloud number:20236 update_time:56.7186ms partition_size:21 normal_select_time:0.927052ms qualified_partition_size:21 sample_time:8.26978ms

TSP_time:7.16105ms [ WARN] [1729847843.347940774]: global nbv yaw! 8.72093deg. total_global:77.3747ms [ WARN] [1729847843.347973255]: Global to NBV! dist to NBV:4.4362 Global_Planning_Time:84.2733ms! -----Global Planning Finished!----- -----Local Planning Start!----- None qualified viewpoints... i:1 None qualified viewpoints... i:1 None qualified viewpoints... i:1

None qualified viewpoints... ---Construct Graph--- ---Search optimal sequence--- Node: 6, edge: 5 [ WARN] [1729847843.350022682]: Same pos! ---Search Finish--- ---Push Finish--- -----Local Planning Finished!----- Local_Planning_Time:2.09972ms! initial_local_path_length:8.69004m initial_stoe:4.4362 local planner size: 5 start position: 1.96763e-07 -0.000281642 -0.00248134 end position: -0.0701274 -2.19982 4.14331 [ERROR] [1729847843.350371369]: No path to next viewpoint Current Length: 0m. [ WARN] [1729847843.350409610]: plan fail [ INFO] [1729847844.226458297]: [FSM]: state: PLAN

start_pt_x:1.96763e-07 start_pt_y:-0.000281642 start_pt_z:-0.00248134 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:1.59922ms ts_ms:5.49861ms vec_ms:0.021641ms

1414 [ WARN] [1729847844.271727817]: Visit Cloud! visit_num:3374 0.2003 Surface_Prediction_Time:45.3162ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.070118ms -----------cluster_size:20 CEC_time:1.97787ms visibility_time:0.093461ms cloud number:20218 update_time:60.2519ms partition_size:20 normal_select_time:0.497077ms qualified_partition_size:20 sample_time:5.37749ms

TSP_time:6.38297ms [ WARN] [1729847844.353202991]: global nbv yaw! 3.15589deg. total_global:74.6509ms [ WARN] [1729847844.353279889]: Global to NBV! dist to NBV:8.95337 Global_Planning_Time:81.4026ms! -----Global Planning Finished!----- -----Local Planning Start!----- None qualified viewpoints... i:1 None qualified viewpoints... i:1

None qualified viewpoints... ---Construct Graph--- ---Search optimal sequence--- Node: 5, edge: 4 [ WARN] [1729847844.354947629]: Same pos! ---Search Finish--- ---Push Finish--- -----Local Planning Finished!----- Local_Planning_Time:1.69274ms! [ WARN] [1729847844.355002438]: Far Goal! initial_local_path_length:13.6579m initial_stoe:8.95337 local planner size: 4 start position: 1.96763e-07 -0.000281642 -0.00248134 end position: -0.216066 7.15504 6.02147 [ERROR] [1729847844.355236552]: No path to next viewpoint

It seems that there is a problem with the A star search path, but why is the first starting point and end point like this every time I start airsim: start position: 1.96763e-07,-0.000281642,-0.00248134 end position: -0.216066,7.15504,6.02147 Please help me solve this problem, I will be grateful...🥺

[zhouruihhxxttxs]

The environment is the palace you provide.🥺