bigsuperZZZX
commented
3 years ago Sorry for replying so late since I'm super busy recently! It's easy to achieve that. All you need is to First: change the "flight_type" to "1" in run_in_sim.launch, line 60 to enable waypoint input when flying. Second: noticeing the callback function in ego_replan_fsm.cpp, line 64, you need to publish that topic which is a waypoint to make the drone to follow.
Hello. Thanks for the great work.
I am interested in using this package in conjunction with a custom exploration planner, which provides path segments at some fixed interval of time.
I can see that the ego_replan_fsm file can be modified to accept waypoints from a external topic, however I am unclear as to how to make the planner track a new set of waypoints, while it's already executing the previous one.
Thanks in advance!!