When using your so3 simulator, I publish the command

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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When using your so3 simulator, I publish the command #35

Closed Mealoore closed 1 year ago

Mealoore commented 2 years ago

When using your so3 simulator, I publish the command

header: 
  seq: 21
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
position: 
  x: nan
  y: nan
  z: nan
velocity: 
  x: 0.0
  y: 0.0
  z: 0.0
acceleration: 
  x: 0.0
  y: 0.0
  z: 0.0
yaw: 2.0
yaw_dot: 0.0
kx: [0.0, 0.0, 0.0]
kv: [0.0, 0.0, 0.0]
trajectory_id: 0
trajectory_flag: 0

the height of uav is not correct, I think it should be at original point

bigsuperZZZX commented 1 year ago

so3 simulator is not easy to use. Please check this function to see what it requires.

Mealoore commented 1 year ago

Sorry to bother you, could you provide the paper about the so3 simulator in your project, I want to learn more about it to use the simulator.Thanks a lot. And is there another appropriate simulator about uav which is can use in swarm, more than 50 uavs?

bigsuperZZZX commented 1 year ago

The paper related to this controller is "Geometric tracking control of a quadrotor UAV on SE(3)". If CPU performance is the bottleneck, please replace the simulator and controller with this package.