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ZJU-FAST-Lab / EGO-Planner-v2

Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"
GNU General Public License v3.0
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Planner not planning the path and not stopping the drone at the end of trajectory #16

Open shubham-shahh opened 1 year ago

shubham-shahh commented 1 year ago

Hi @bigsuperZZZX, I hope you are doing well. recently I was testing the Ego-Planner-v2 Implementation and I came across a situation where the planner planned a path, and the drone was following it, but the planner didn't send a 0 velocity command once the drone reached the waypoint. below I have attached the video demonstrating the issue and the corresponding logs. I have not modified the planner code the crash happened in the end, hence the end part of the log file is more helpful

thanks

https://user-images.githubusercontent.com/51359628/195879161-388338c5-0cc0-4d3e-9185-13aaff32ef1f.mp4

03_10_22_test3_planner (1).txt

shubham-shahh commented 1 year ago

Hi @bigsuperZZZX, any update on this?

bigsuperZZZX commented 1 year ago

What changes did you make to the planner. This problem should not happen.

shubham-shahh commented 1 year ago

What changes did you make to the planner. This problem should not happen.

I am unable to reproduce this issue, i have not made any major changes, but I'm curious, why did the planner stop planning in the mid way? It didn't reach the goal yet, the 'not stopping' could be related to the flight controller

bigsuperZZZX commented 1 year ago

Finding the reason that the planner stops before reaching the goal requires more videos and outputs.

shubham-shahh commented 1 year ago

Finding the reason that the planner stops before reaching the goal requires more videos and outputs.

I see, I'll post more info if I am able to recreate it.

thanks

Swadine commented 1 year ago

@shubham-shahh Any follow-up on this issue, are you able to recreate this issue or figure out what changes in code led to the same?

shubham-shahh commented 1 year ago

@shubham-shahh Any follow-up on this issue, are you able to recreate this issue or figure out what changes in code led to the same?

There's more than one reason for this problem. I have seen instances when the planner takes some time to plan and the last velocity could be high and then it would stop streaming commands, to avoid crashes until the planner finds a path, one way to deal with it is to change the timeout settings on autopilot