search

ZJU-FAST-Lab / ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.
GNU General Public License v3.0
1.2k stars 231 forks source link

Terminal point of the current trajectory is in obstacle, skip this planning #5

Closed robin-shaun closed 3 years ago

robin-shaun commented 3 years ago

Hello, I sometimes meet continuous warning terminal point of the current trajectory is in obstacle, skip this planning in my PX4 SITL Simulation and the UAV will stop. I think this will happen when there's no solution to reach the goal, but indeed when this happens no obstacle is in front of the UAV.

In most cases, ego_planner works quite well. Thanks for the wonderful work.

image

image

bigsuperZZZX commented 3 years ago

If no obstacle is in front of the UAV while this error keeps reporting, then maybe the given goal is outside the global map, or the goal is insider the inflated obstacles. Please check that.

robin-shaun commented 3 years ago

Is the global map size given by `

` in here?

bigsuperZZZX commented 3 years ago

Yes. The map region is [-map_size_x/2, map_size_x/2], [-map_size_y/2, map_size_y/2], [ground_height, map_size_z-ground_height].

robin-shaun commented 3 years ago

OK, I'll try it.

bigsuperZZZX commented 3 years ago

Hello, if you have no other questions, please close this issue.