The optimized trajectories will collide with obstacles

[qycqycqyc]

when I run single_drone_interactive.launch with rotors_simulators,I find that the red optimized trajectoris collide with obstacles.

[qycqycqyc]

@at first the trajectory is ok,but then,the red will be close to the obstacles,at last,the uav will collide the the obstacles.

[qycqycqyc]

@bigsuperZZZX

[qycqycqyc]

@ZhepeiWang please do me a favor

[qycqycqyc]

这是所有设置的参数

[qycqycqyc]

I think it is necessary to copy the optimized trajectory, that is, the safe distance of the up, down, left, and right of the red trajectory, to generate a trajectory, and then detect the safety of each trajectory to prevent the trajectory from being close to obstacles, and The above mentioned bugs

[bigsuperZZZX]

A collision means you have to enlarge the inflation.

[qycqycqyc]

But,in the grid_map.cpp，it said the limit of inflation is 4 resolutions

---Original--- From: "Xin @.> Date: Sun, May 14, 2023 21:01 PM To: @.>; Cc: @.>;"State @.>; Subject: Re: [ZJU-FAST-Lab/EGO-Planner-v2] The optimized trajectories will collide with obstacles (Issue #21)

A collision means you have to enlarge the inflation.

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[bigsuperZZZX]

It's just an instruction. You can following it to enlarge the resolution as well.

[qycqycqyc]

I tried to add an envelope to the UAV, that is, four parallel tracks up and down, left and right, enclosing the UAV and detecting it at the same time

---Original--- From: "Xin @.> Date: Sun, May 14, 2023 21:24 PM To: @.>; Cc: @.>;"State @.>; Subject: Re: [ZJU-FAST-Lab/EGO-Planner-v2] The optimized trajectories will collide with obstacles (Issue #21)

It's just a instruction. You can following it to enlarge the resolution as well.

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