In testing with waypoints, I seem to have found an edge case that causes quadrotors to crash (in sim and reality). The problem is related to the computation of A_inv_M in traj_gen.cpp that produces nan values.
The issue seems to originate when a set of waypoints with motion purely in the z-direction is run when the robot is already exactly coincident with waypoint_1. Other waypoints I have tried seems to run fine regardless of robot starting position. Additionally, a slight perturbation of the robot location via a goto command allows this set of waypoints to run.
This zip file contains a bag file containing an example of this along with a text file describing the waypoints enclosed and the conditions which result in failure.
waypoints_bug.zip
This is probably not a very urgent issue, but I wanted to provide documentation in case it comes up again for someone else!
kartikmohta
commented
3 years ago
In testing with waypoints, I seem to have found an edge case that causes quadrotors to crash (in sim and reality). The problem is related to the computation of A_inv_M in traj_gen.cpp that produces nan values.
The issue seems to originate when a set of waypoints with motion purely in the z-direction is run when the robot is already exactly coincident with waypoint_1. Other waypoints I have tried seems to run fine regardless of robot starting position. Additionally, a slight perturbation of the robot location via a goto command allows this set of waypoints to run.
This zip file contains a bag file containing an example of this along with a text file describing the waypoints enclosed and the conditions which result in failure. waypoints_bug.zip
This is probably not a very urgent issue, but I wanted to provide documentation in case it comes up again for someone else!