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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
616 stars 321 forks source link

follow me mode #675

Open 001zwzwzw opened 2 years ago

001zwzwzw commented 2 years ago

hello great author! I want to ask how can I change the code to let the avoidance system support follow me mode! Thanks for your answer

brunopinto900 commented 2 years ago

Hello @001zwzwzw. This package only provides an obstacle avoidance capability to the drone using a local or a global planner. In follow me mode, you must provide yourself the path for the drone to follow a person, then you can input that path to any planner that will attempt to track the path as well as avoid obstacles.

For that purpose i suggest to use the local planner together with the "folllow me" trajectory. One way is to add an additional cost to stay as close as possible to desired trajectory.

If you have any more questions feel free to ask me.

001zwzwzw commented 2 years ago

oh @brunopinto900 ,thanks for your answer,I get so much!I want to achieve formation in the method of leader-follower at follow me mode!So the trajectory of follower is the desired waypoint after the calculation by leader.I want to merge the trajectory and the result of local-planner as new waypoint,how do you think my strategy？I want to listen to your opinion sincerely.