1、Currently, I have found that in the Gazebo virtual environment, when simulating multiple aircraft, only the first aircraft can be planned. The issue lies in this line of code:
if (planner_manager_->pp_.drone_id <= 0 || (planner_manager_->pp_.drone_id >= 1 && have_recv_pre_agent_))
2、I change planner_manager_->pp_.drone_id <= 0 to planner_manager_->pp_.drone_id <=3 All three drones can avoid obstacles,I don't know how to use the right method to solve it.
3、 ego-swarm uses liDAR in practice without using drone_detect.launch and poscmd_2_odom
And local_sensing_node, I just use bridge_udp.launchto make sure that each plane can broadcast its own trajectory to each other,I'm not sure that's OK?
thanks for your work!
1、Currently, I have found that in the Gazebo virtual environment, when simulating multiple aircraft, only the first aircraft can be planned. The issue lies in this line of code:
if (planner_manager_->pp_.drone_id <= 0 || (planner_manager_->pp_.drone_id >= 1 && have_recv_pre_agent_))2、I change
planner_manager_->pp_.drone_id <= 0toplanner_manager_->pp_.drone_id <=3All three drones can avoid obstacles,I don't know how to use the right method to solve it.3、 ego-swarm uses
liDARin practice without usingdrone_detect.launchandposcmd_2_odomAndlocal_sensing_node, I just usebridge_udp.launchto make sure that each plane can broadcast its own trajectory to each other,I'm not sure that's OK?