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PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.
http://px4.io
BSD 3-Clause "New" or "Revised" License
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[Feature] Plug OMPL to Avoidance to open the possibility of using other motion planning algorithms #132

Open TSC21 opened 5 years ago

TSC21 commented 5 years ago

OMPL (Open Motion Planning Library) is a library which contains most of the state-of-the-art motion and path planning algorithms. It's already used in various robotics frameworks, including MoveIt!. Would be interesting to explore the possibility of integrate it with the Avoidance API in order to add other alternatives to the global planner. Note also that the license is permissive and should set us good to go on the integration. I am open to discuss this on the next avoidance call. @mrivi, @baumanta, @nicovanduijn what do you think?

TSC21 commented 5 years ago

Note that it can also be installed directly from the ROS deb packages using:

sudo apt-get install ros-`rosversion -d`-ompl
Jaeyoung-Lim commented 5 years ago

I would be excited to see this moving forward

TSC21 commented 5 years ago

@Jaeyoung-Lim is this something you have the bandwidth to explore?

Jaeyoung-Lim commented 5 years ago

@TSC21 Not immediately, but for the upcoming weeks I would be interested in looking into this

I am using https://github.com/ethz-asl/mav_voxblox_planning which uses OMPL as the planning interface.

ytaskiran commented 3 years ago

What happened to this project? It seemed some progress had taken place at the time but I don't understand where it went.

Jaeyoung-Lim commented 3 years ago

@ytaskiran This is how far it went: https://github.com/PX4/PX4-Avoidance/pull/453

LorenzMeier commented 3 years ago

@ytaskiran Would you want to take it on from there?

ytaskiran commented 3 years ago

@LorenzMeier Actually I'd love to. By the way, I think moving on with ROS2 instead of mavros would be more convenient from now on. What do you think?