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Zhefan-Xu / CERLAB-UAV-Autonomy

[CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)
MIT License
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Map update is too slow during real flight #11

Closed cheslee-z closed 7 months ago

cheslee-z commented 7 months ago

Hi, @Zhefan-Xu, thanks for your outstanding work.

I encountered another problem during real flight: it seems that the voxel update of dynamic obstacles is too slow, causing the UAV to easily pause in front of dynamic obstacles. And the trajectory seems to have not been re-planned. Could you give me some advice?

Snipaste_2024-03-29_18-56-45
Zhefan-Xu commented 7 months ago

Hi @cheslee-z, this should not happen if the dynamic obstacle is detected. Could you provide more information?

cheslee-z commented 7 months ago

Hi @cheslee-z, this should not happen if the dynamic obstacle is detected. Could you provide more information?

Hi, thank you for your reply. I found that there seems to be a discrepancy between the real experiment and the simulation experiment codes. I'm not sure what I have modified, but this issue has now been resolved.

Zhefan-Xu commented 7 months ago

@cheslee-z I think I know the reason. You have to change the fake detector param to False