how to make local_planner preffer to go above or below obstacle rather than around it?

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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how to make local_planner preffer to go above or below obstacle rather than around it? #673

Open DoneMan opened 2 years ago

DoneMan commented 2 years ago

HI all.

i've been using local_planner with a lot of success, it is truly some amazing piece of code. i wanted to ask: is it possible to configure somehow to tell the local_planner to prefer going above or below obstacles rather then around them? if i put a wall of obstacles in front of the drone, it will prefer to go around them even if the wall is 400 meters wide, if it would just go above or below it will be much better off.

thanks in advanced

DoneMan commented 2 years ago

@dagar @dayjaby @bkueng

jhiggason commented 1 year ago

Did anyone here get this figured out by chance? If so- I'd love to know how you did it. =) Thank you!

aravi-2001 commented 11 months ago

reduce the pitch cost param and increase yaw cost