search

ZJU-FAST-Lab / ego-planner

GNU General Public License v3.0
1.41k stars 281 forks source link

how Rviz 2D goal is converted to 3D? #28

Closed shubham-shahh closed 2 years ago

shubham-shahh commented 3 years ago

Hi, When I give a 2D nav goal through Rviz, the Z component is 0, how does the ego planner add the z component? @bigsuperZZZX

bigsuperZZZX commented 3 years ago

z component is set to a fixed height, since determining height using a mouse is not accurate.

shubham-shahh commented 3 years ago

z component is set to a fixed height, since determining height using a mouse is not accurate.

in which file this z component is set?

bigsuperZZZX commented 2 years ago

This line: https://github.com/ZJU-FAST-Lab/ego-planner/blob/fcdfc5419dcc0c93105803e6f60b1b08b4e5152d/src/planner/plan_manage/src/ego_replan_fsm.cpp#L119

shubham-shahh commented 2 years ago

This line:

https://github.com/ZJU-FAST-Lab/ego-planner/blob/fcdfc5419dcc0c93105803e6f60b1b08b4e5152d/src/planner/plan_manage/src/ego_replan_fsm.cpp#L119

okay, thanks for the response