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KumarRobotics / kr_autonomous_flight

KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors
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Fix A star error in JPS3D/graph_search.cpp #141

Open fcladera opened 2 years ago

fcladera commented 2 years ago

Current status: printf("ASTAR ERROR!\n"); is called in grap_search.cpp. This does not seem to affect the performance of the stack.

Ideal scenario: we would like to understand why this is happening and fix it. Removing the printf is not acceptable.

orlando21lara commented 2 years ago

Hi, I'm trying to reproduce this error, is there any known scenerios in which this occurs?

XuRobotics commented 2 years ago

Hi Orland, It’s hard to say what exact scenario causes this. But have you tried to build the stack and run in the simulator? If not, I would recommend doing that first, and try bunch of flights in different cluttered environments (eg forests).

orlando21lara commented 2 years ago

Hi Xu, yes I have run the simulator with the base environment which does have a quite of bit of trees. After setting a few waypoints I have only been able to see the error once, but I did not notice what trajectory or situation could have caused it. I have not been able to reproduce it, which is why I was wondering if there was any know situation in which it occured.

Is the JPS3D code in this repository based off of https://github.com/KumarRobotics/jps3d ? I git diffed the graph_search.cpp files in both repos and there seems to only be formatting differences. Since they both have this printf("ASTAR ERROR!\n");, I was thinking that I could run more repeatable test cases on this isolated repo instead to make debugging quicker. Would you recommend I do that or advise against it?

Would you have any other recommendations?

XuRobotics commented 2 years ago

I see. Yes that’s correct! In general, yes I think it’s a good idea use the isolated repo to identify the issues first, I am not very sure if you’ll run into this issue by running the JPS alone though. Maybe you can pick another issue to solve instead? Next time when I get the issue I will note down what exact scenario it is.

orlando21lara commented 2 years ago

Alright, thank you for the feedback. I'll look at some other issue for now and come back to this in the future