search

ethz-asl / nbvplanner

A real-time capable exploration and inspection path planner (next best view planning)
353 stars 121 forks source link

Using other quadrotor models #20

Open parlange opened 6 years ago

parlange commented 6 years ago

First of all, amazing work on your nbvplanner. I am trying to use other quadrotor models in the planning simulation. I noticed there is an ardrone model in rotors_description folder. In the simulation launch files the name of quadrotor can be changed, however, they depend on other launch files and differerent models have different parameters.

Which launch files, parameters and controller have to be modified in order to use the ardrone model?

Thank you.

parlange commented 6 years ago

I've been trying to run the nvbplanner on models other than the default (firefly). I tried changing the default MAV on the launch files, but I am getting the following error:

[ERROR] [1510184715.878857461, 0.360000000]: "navigation" passed to lookupTransform argument target_frame does not exist. [FATAL] [1510184715.880288354, 0.370000000]: ASSERTION FAILED file = /home/user/nbvplanner_ws/src/nbvplanner/rotors/rotors_gazebo_plugins/src/gazebo_motor_model.cpp line = 130 cond = rot_velocities->angular_velocities.size() > motornumber message = [FATAL] [1510184715.880328523, 0.370000000]: You tried to access index 4 of the MotorSpeed message array which is of size 4. [FATAL] [1510184715.880344489, 0.370000000]:

[ERROR] [1510184715.880417352, 0.370000000]: "navigation" passed to lookupTransform argument target_frame does not exist.

Is there a way to specify the number of rotors, so that it works with quadrotors (eg. ardrone model)? @ffurrer Thanks