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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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RRT global planner #672

Open brunopinto900 opened 2 years ago

brunopinto900 commented 2 years ago

Hello,

This pull request is the continuation of #453 . The main changes are:

RRT star is used to generate global paths; Octomap is used as the map framework; The drone's yaw is set to the direction of the path;

There are some issues to discuss:

The controller works in a time-based loop where the setpoint is just the next point of the path. It leads to non-smooth motion of the drone. Need to discuss how to give waypoints to the controller. Parameters are now hardcoded. Need to discuss where to put them. Launch file, YAML or dynamic reconfig?

Thank you.

brunopinto900 commented 2 years ago

Hello,

I can send you a video with the expected result from the implementation. I don't have any idea of what caused the missing EOF.

brunopinto900 commented 2 years ago

https://user-images.githubusercontent.com/48806267/159032456-01fd0e64-b43d-4b30-81fc-043f5ffb9ddb.mp4

The planner works fine. The drone crashed in the end due to:

Octomap obstacles should be inflated The controller is very basic.

Jaeyoung-Lim commented 2 years ago

I don't have any idea of what caused the missing EOF.

https://stackoverflow.com/questions/729692/why-should-text-files-end-with-a-newline You should add a newline at the end of each file

Octomap obstacles should be inflated The controller is very basic.

Okay, we need to fix these issues before we can merge it in

brunopinto900 commented 2 years ago

@Jaeyoung-Lim Okay. I will fix the octomap inflation, the controller as well as the EOF.

Cavalletta98 commented 2 years ago

When will be merged?