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ZJU-FAST-Lab / ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.
GNU General Public License v3.0
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如何在无人机飞行过程中更改它的目标点 #28

Closed River-South closed 2 years ago

River-South commented 2 years ago

如题，我测试了直接在ego_replan_fsm.cpp内的void EGOReplanFSM::init(ros::NodeHandle &nh)中修改planNextWaypoint进一个循环中，从而循环发布全局目标点，如下 sendpix0 但是无人机会不断抽搐，看起来像是计算有延迟，然后计算完毕后又回到了计算开始时的位置？那么应该如何在无人机飞行的过程中修改它的目标点同时让它能够平稳运行呢

https://user-images.githubusercontent.com/95545748/161000599-0a7abf56-628c-47c6-bf63-7e78c8332975.mp4