Drone node died when checkcollisionCallback and replan traj call planfromlocaltraj at the same time

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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Drone node died when checkcollisionCallback and replan traj call planfromlocaltraj at the same time #30

Open yfclark opened 6 months ago

yfclark commented 6 months ago

since they are running parallel,some times replan track call planfromlocaltraj and traj optimizer is occupied,checkcollisionCallback call planfromlocaltraj again and change some variables in optimizer,then the node is died