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ethz-asl / mav_active_3d_planning

Modular framework for online informative path planning.
BSD 3-Clause "New" or "Revised" License
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Fixed FeasibleRRTStar stack error #49

Closed 9woods123 closed 2 years ago

9woods123 commented 2 years ago

The codes were crushed due to the EigenTrajectoryPoint::Vector states = mavMsgToPlanningMsg(tmp_states); which using the reinterpret_cast to transform the vector mav_msgs::EigenTrajectoryPointVector. I modified the active_3d_planning_mav/src/tools/linear_mav_trajectory_generator.cpp . Traversed the vector and using reinterpret_cast to every element, then push_back them to a new active_3d_planning::EigenTrajectoryPointVector. And then it works.

Additionally, I only use the gazebo, the planning_gazebo_launch.cpp controls MAV do an initial action. You can start the planning by running the following command in the terminal. 

                                      rosservice call /planner/planner_node/toggle_running  1

Don't forget to modify the pointcloud_out into your gazebo sensor output topic. And launch a MAV model which you have.

Schmluk commented 2 years ago

Thank you for your investigation and contribution! The fix is implemented in #50 . The gazebo can still be found here but is not merged to main.