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KumarRobotics / kr_autonomous_flight

KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors
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Differentiate 2D and 3D planner in local replan server #139

Open fcladera opened 2 years ago

fcladera commented 2 years ago

Current status: When we initialize a planner instance, we always initialize it in 3D and we are setting the control inputs to zero in the z-direction. We did this for visualization purposes (because we need a 3D voxel map), but this is not optimal in terms of compute.

Ideal scenario: we would like the planner to be initialized in 2D. We may need to modify the current planner-util package to be able to use a slice of the 3D map (but we still can visualize it in rviz).

versatran01 commented 2 years ago

I suggest fixing the issue with inconsistent map storage order first. I don't remember if this was fixed or not but worth looking at to make sure.

XuRobotics commented 2 years ago

I suggest fixing the issue with inconsistent map storage order first. I don't remember if this was fixed or not but worth looking at to make sure.

I don't think this is fixed, would you like to create an issue on this?