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ethz-asl / mav_voxblox_planning

MAV planning tools using voxblox as the map representation.
BSD 3-Clause "New" or "Revised" License
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Feature/world referenced trajectories #51

Closed alexmillane closed 4 years ago

alexmillane commented 4 years ago

Functionality to transform trajectories arriving in the global frame to the local frame before publishing. Mainly copied from mav_local_planner_deprecated, although hopefully I've cleaned it up a bit and added some error checking.

I've tested it in simulation with Gazebo.

world_odom

The random frame off to the side here is a simulated (randomized) ENU frame which the spiral trajectory is published in.

alexmillane commented 4 years ago

@helenol Is this what you had in mind here? Is there something I've missed?

alexmillane commented 4 years ago

@clanegge Are you happy with this? I just lost a couple of hours publishing world trajectories and getting confusing results so I would like to merge this.

@helenol Not sure how interested in maintaining this going forward? In other words, do you want me to be merge things without your consent?

clanegge commented 4 years ago

@alexmillane Yeah I believe we should merge this. We tested it quite extensively I it always seemed to work. I quickly fix #53 and then we can merge those two together.