Closed donglianghere closed 1 year ago
2022-08-29 22-21-57.zip Here is the video
file session.yml name: simulation root: ./ startup_window: mapplan pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=t650; export SENSORS="garmin_down"; export WORLD_FILE=./custom_configs/world.yaml; export ODOMETRY_TYPE="gps" windows:
# - waitForSimulation; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --use-gpu-ray --enable-realsense-down --enable-realsense-front --pos 0 0 1.0 0 "
- waitForSimulation; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-realsense-down --enable-realsense-front --enable-ouster --ouster-model OS0-128 --use-gpu-ray --pos 0 0 1.0 0"
@spurnvoj @penickar Hi, could you please help me with this issue?
Hey, the collision avoidance / planning never got lost. The "Nav goal" you issued from Rviz never work that way. It generates a reference command directly for the ControlManager. That is on a much lower level than with this planning + mapping package. To issue a command for the planner, please use the /uav*/pathfinder/goto
or /uav*/pathfinder/referece
services. One is prepared in the tmux session, if you scroll right few times.
... since you posted it above yourself:
* goto: layout: tiled panes: - 'history -s rosservice call /$UAV_NAME/pathfinder/goto "goal: [60.0, 0.0, 2.5, 0.0]"; history -s rosservice call /$UAV_NAME/pathfinder/goto "goal: [-60.0, 0.0, 2.5, 0.0]"'
The simulation is perfect! @klaxalk Thanks a lot!
@klaxalk when i run the example in dir "octomap_mapping_planning/tmux/simulation_example" with the command ./start.sh, i find the program does not have the function of obstacle avoidance, and the planned path direct straight to the goal, Why? Thanks!