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ZJU-FAST-Lab / ego-planner

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How to change the size of the local map？ #10

Closed Robinaoko closed 3 years ago

bigsuperZZZX commented 3 years ago

Our planner has no isolated local map, all the map data is stored in the global map (struct MappingData in grid_map.h ). If the global map is too large for you to allocate, please use 3D Circular Buffer (Vladyslav Usenko, et.al., Real-Time Trajectory Replanning for MAVs using Uniform B-splines and a 3D Circular Buffer).

Robinaoko commented 3 years ago

Many thanks for your replying！ In the demo，I can see that the uav is planning according to the front sector. Can I change the size of this sector to make it bigger or smaller?

bigsuperZZZX commented 3 years ago

Do you meaning planning horizon? This parameter called planning_horizon lays in the .launch files. Or do you mean the local updating range? It can be changed by setting grid_map/local_update_range_x/y/z in advanced_param.xml. Please refer to the parameters under the namespace "grid_map/" in advanced_param.xml for more information about mapping.

Robinaoko commented 3 years ago

I see. I will check the parameters in detail again. Thank you very much!