lose the function of obstacle avoidance

[donglianghere]

@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!

[donglianghere]

2022-08-29 22-21-57.zip Here is the video

[donglianghere]

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:

• roscore: layout: tiled panes:
  • roscore
• gazebo: layout: tiled panes:
  • waitForRos; roslaunch mrs_simulation simulation.launch world_name:=forest gui:=true
  • waitForOdometry; gz camera -c gzclient_camera -f uav1; history -s gz camera -c gzclient_camera -f uav1
• status: layout: tiled panes:
  • waitForSimulation; roslaunch mrs_uav_status status.launch
• spawn: layout: tiled panes:

  - waitForSimulation; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-ouster --ouster-model OS0-128 --use-gpu-ray --pos 0 0 1.0 0"

  # - 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"

• control: layout: tiled panes:
  • waitForOdometry; roslaunch mrs_uav_general core.launch config_odometry:=./custom_configs/odometry.yaml config_constraint_manager:=./custom_configs/constraint_manager.yaml
• mapplan: layout: tiled panes:
  • waitForOdometry; roslaunch octomap_mapping_planning mapplan.launch config_octomap:=./custom_configs/octomap.yaml config_pcl_filter_ouster:=./custom_configs/ouster_filter_mapping.yaml config_pathfinder:=./custom_configs/pathfinder.yaml config_trajectory_generation:=./custom_configs/trajectory_generation.yaml config_pcl_filter_rs_front:=./custom_configs/rs_front_filter.yaml config_pcl_filter_rs_down:=./custom_configs/rs_down_filter.yaml
• map: layout: tiled panes:
  • 'history -s rosservice call /uav1/octomap_server/save_map example'
  • 'history -s rosservice call /uav1/octomap_server/load_map example'
• 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]\"'
• takeoff: layout: tiled panes:
  • waitForSimulation; roslaunch mrs_uav_general automatic_start.launch
  • 'waitForControl; rosservice call /$UAV_NAME/mavros/cmd/arming 1; sleep 2; rosservice call /$UAV_NAME/mavros/set_mode 0 offboard'
• rviz: layout: tiled panes:
  • waitForControl; rosrun rviz rviz -d ./rviz.rviz
  • waitForControl; roslaunch mrs_rviz_plugins load_robot.launch
• easy_control: layout: tiled panes:
  • waitForControl; waitForControl; roslaunch mrs_uav_general logitech_joystick.launch
  • waitForControl; waitForControl; roslaunch mrs_rviz_plugins rviz_interface.launch
• layout: layout: tiled panes:
  • waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json

[donglianghere]

@spurnvoj @penickar Hi, could you please help me with this issue?

[klaxalk]

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.

[klaxalk]

... 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]"'

[donglianghere]

The simulation is perfect! @klaxalk Thanks a lot!