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ethz-asl / terrain-navigation

Repository for Safe Low Altitude Navigation in steep terrain for fixed-wing Aerial Vehicles
https://ieeexplore.ieee.org/abstract/document/10443502
BSD 3-Clause "New" or "Revised" License
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Error: RRTstar: There are no valid initial states! #64

Open sniper006006 opened 4 months ago

sniper006006 commented 4 months ago

Hello, when I run roslaunch terrain_navigation_ros test_terrain_planner.launch, the following error occurred. I would like to ask about the reason for this issue.Thank you very much.

INFO [commander] Armed by external command
INFO [tone_alarm] arming warning INFO [navigator] Executing Mission
INFO [navigator] Takeoff to 60.0 meters above home
[ INFO] [1715931050.319347357, 17.008000000]: GF: mission received [ INFO] [1715931050.319455910, 17.008000000]: RP: mission received [ INFO] [1715931050.319669263, 17.008000000]: WP: item #0* F:6 C: 84 p: 0 0 0 nan x: 468150028 y: 98472149 z: 60 [ INFO] [1715931050.319790467, 17.008000000]: WP: mission received INFO [commander] Takeoff detected
[TerrainPlanner] - Successfully loaded map: /home/xyr/shared_dir/terrain-navigation0514/terrain-navigation-main/src/terrain-navigation/terrain_navigation_ros/../resources/davosdorf.tif [TerrainOmplRrt] Upper bounds: 2795 2475 2963.08 [TerrainOmplRrt] Lower bounds: -2795 -2475 1585.99 Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation. at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp [ INFO] [1715931081.372966790, 48.040000000]: WP: reached #0 [ INFO] [1715931081.413467934, 48.080000000]: WP: reached #0 [ INFO] [1715931081.513892406, 48.180000000]: WP: reached #0 [ INFO] [1715931081.613735453, 48.280000000]: WP: reached #0 [ INFO] [1715931081.713372006, 48.380000000]: WP: reached #0 [ INFO] [1715931081.813405059, 48.480000000]: WP: reached #0 [ INFO] [1715931081.913596673, 48.580000000]: WP: reached #0 [ INFO] [1715931082.013496794, 48.680000000]: WP: reached #0 [ INFO] [1715931082.113588892, 48.780000000]: WP: reached #0 [ INFO] [1715931082.214034258, 48.880000000]: WP: reached #0 [ INFO] [1715931082.314487366, 48.980000000]: WP: reached #0 [ERROR] [1715931084.752645503, 51.416000000]: TM : Time jump detected. Resetting time synchroniser. INFO [navigator] Mission finished, loitering
[ERROR] [1715931135.353320173, 101.972000000]: TM : Time jump detected. Resetting time synchroniser. [ERROR] [1715931185.952667442, 152.524000000]: TM : Time jump detected. Resetting time synchroniser. [TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 [PlanningPanel] Set Planning Budget: 4 [TerrainPlanner] Planning budget: 4 Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation. at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-66.67 -8.16472e-15 0] SO2State [1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 -39.1876 0] SO2State [2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 -63.4069 0] SO2State [2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 -63.4069 0] SO2State [-2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 -39.1876 0] SO2State [-2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [66.67 0 0] SO2State [-1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 39.1876 0] SO2State [-0.942478] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 63.4069 0] SO2State [-0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 63.4069 0] SO2State [0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 39.1876 0] SO2State [0.942478] ]

Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.001614 seconds Solution Not found Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.002011 seconds

Jaeyoung-Lim commented 4 months ago

@sniper006006 Have you tried increasing the solve time?

sniper006006 commented 4 months ago

solve01 solve02 Is it to increase the time_budget in the source code here? Thank you.

sniper006006 commented 4 months ago

Is it to increase the time_budget in the source code here? Thank you.

[image: img_v3_02b2_1e806c37-35ee-48a4-bbc8-21051169263g.png] [image: img_v3_02b2_e95b6790-e893-4c87-83fb-ac918c1497ag.png]

best

Jaeyoung Lim @.***> 于2024年5月18日周六 07:13写道：

@sniper006006 https://github.com/sniper006006 Have you tried increasing the solve time?

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2118478490, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVND2TIOJXNF4M6ND43ZC2FLHAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMJYGQ3TQNBZGA . You are receiving this because you were mentioned.Message ID: @.***>

Jaeyoung-Lim commented 4 months ago

@sniper006006 No, in the planner panel in Rviz, you can set the time allocated for the planner

sniper006006 commented 4 months ago

Is it here? I increased this, and the same error still occurs 03

[TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 [PlanningPanel] Set Planning Budget: 10 [TerrainPlanner] Planning budget: 10 Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-66.67 -8.16472e-15 0] SO2State [1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 -39.1876 0] SO2State [2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 -63.4069 0] SO2State [2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 -63.4069 0] SO2State [-2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 -39.1876 0] SO2State [-2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [66.67 0 0] SO2State [-1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 39.1876 0] SO2State [-0.942478] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 63.4069 0] SO2State [-0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 63.4069 0] SO2State [0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 39.1876 0] SO2State [0.942478] ]

Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.003194 seconds Solution Not found

sniper006006 commented 4 months ago

Is it here? I increased this, and the same error still occurs [image: 03] https://private-user-images.githubusercontent.com/168155221/332083472-d0a45d50-2dbe-4231-bdc7-9102077c1e13.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTYyMTMwMDQsIm5iZiI6MTcxNjIxMjcwNCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMyMDgzNDcyLWQwYTQ1ZDUwLTJkYmUtNDIzMS1iZGM3LTkxMDIwNzdjMWUxMy5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTIwJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyMFQxMzQ1MDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT00MmQwMTUwYWU5Nzk1YjAxODY5MGFlNjcyYjJmZGI3ZTYwNTFlZmNjZTRhMjgwMDBhZmZmYTZkNjdkN2NlZGYzJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.ed0uny9MV6DGM-R5pRfxREPURzwpKjlkvGmx_hE0ZTY

[TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 [PlanningPanel] Set Planning Budget: 10 [TerrainPlanner] Planning budget: 10 Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-66.67 -8.16472e-15 0] SO2State [1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 -39.1876 0] SO2State [2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 -63.4069 0] SO2State [2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 -63.4069 0] SO2State [-2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 -39.1876 0] SO2State [-2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [66.67 0 0] SO2State [-1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 39.1876 0] SO2State [-0.942478] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 63.4069 0] SO2State [-0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 63.4069 0] SO2State [0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 39.1876 0] SO2State [0.942478] ]

Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.003194 seconds Solution Not found

Jaeyoung Lim @.***> 于2024年5月20日周一 21:04写道：

@sniper006006 https://github.com/sniper006006 No, in the planner panel in Rviz, you can set the time allocated for the planner

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2120421607, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVLAQJRLGF7S747QSDTZDHYEPAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRQGQZDCNRQG4 . You are receiving this because you were mentioned.Message ID: @.***>

Jaeyoung-Lim commented 4 months ago

@sniper006006 Okay, and are the start and goal states valid?

sniper006006 commented 4 months ago

[TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 Can this log printout demonstrate whether the start and goal states are valid? thans！

sniper006006 commented 4 months ago

[TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 Can this log printout demonstrate whether the start and goal states are valid? thanks！

Jaeyoung Lim @.***> 于2024年5月21日周二 06:15写道：

@sniper006006 https://github.com/sniper006006 Okay, and are the start and goal states valid?

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2121306784, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVLVTHKRWLBUKYXULCLZDJYYRAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRRGMYDMNZYGQ . You are receiving this because you were mentioned.Message ID: @.***>

Jaeyoung-Lim commented 4 months ago

@sniper006006 You need to set the start and goal state using the interactive marker (press Update start, Update goal)

sniper006006 commented 4 months ago

Why are the Candidate start and Candidate goal coordinates the same here? There seems to be a problem.

20240521-094832 [TerrainPlanner] Candidate start: 0 0 -1 [TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 [PlanningPanel] Set Planning Budget: 4 [TerrainPlanner] Planning budget: 4 Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation. at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-66.67 -8.16472e-15 0] SO2State [1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 -39.1876 0] SO2State [2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 -63.4069 0] SO2State [2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 -63.4069 0] SO2State [-2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 -39.1876 0] SO2State [-2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [66.67 0 0] SO2State [-1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 39.1876 0] SO2State [-0.942478] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 63.4069 0] SO2State [-0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 63.4069 0] SO2State [0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 39.1876 0] SO2State [0.942478] ]

Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.001156 seconds Solution Not found [ERROR] [1716255892.442294705, 1222.932000000]: TM : Time jump detected. Resetting time synchroniser.

sniper006006 commented 4 months ago

Why are the Candidate start and Candidate goal coordinates the same here? There seems to be a problem. Thank you！

[image: 20240521-094832] https://private-user-images.githubusercontent.com/168155221/332249882-7041f7f5-e8cc-49f6-b7a3-47b872990453.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTYyNjAwOTcsIm5iZiI6MTcxNjI1OTc5NywicGF0aCI6Ii8xNjgxNTUyMjEvMzMyMjQ5ODgyLTcwNDFmN2Y1LWU4Y2MtNDlmNi1iN2EzLTQ3Yjg3Mjk5MDQ1My5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTIxJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyMVQwMjQ5NTdaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lYmIxMDQzYzZhMmY3ZjBhMjJhNDNjMTQ1NDEyZTUyMmZlY2NiMzM3YWEyYmVmMDI0OGViOTQwNjViNmY3NjJkJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.k2c1ZZ0yttAoYdPfRFo0VaP8j_LNZTT-VZGuWGnxvfA [TerrainPlanner] Candidate start: 0 0 -1 [TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 [PlanningPanel] Set Planning Budget: 4 [TerrainPlanner] Planning budget: 4 Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation. at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-66.67 -8.16472e-15 0] SO2State [1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 -39.1876 0] SO2State [2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 -63.4069 0] SO2State [2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 -63.4069 0] SO2State [-2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 -39.1876 0] SO2State [-2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [66.67 0 0] SO2State [-1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 39.1876 0] SO2State [-0.942478] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 63.4069 0] SO2State [-0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 63.4069 0] SO2State [0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 39.1876 0] SO2State [0.942478] ]

Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.001156 seconds Solution Not found [ERROR] [1716255892.442294705, 1222.932000000]: TM : Time jump detected. Resetting time synchroniser.

Jaeyoung Lim @.***> 于2024年5月21日周二 08:57写道：

@sniper006006 https://github.com/sniper006006 You need to set the start and goal state using the interactive marker (press Update start, Update goal)

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2121502067, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVKPPLVBVB266KRQWLTZDKLYVAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRRGUYDEMBWG4 . You are receiving this because you were mentioned.Message ID: @.***>

sniper006006 commented 4 months ago

[image: img_v3_02b4_e5b5682d-0e34-4e21-a5ff-546a9a47f9fg.jpg]

Excuse me, I would like to ask the reason why after clicking "engage planner" here, the aircraft in QGC does not follow the planned route. Thank you.

best,

解阳瑞 @.***> 于2024年5月21日周二 10:51写道：

Why are the Candidate start and Candidate goal coordinates the same here? There seems to be a problem. Thank you！

[image: 20240521-094832] https://private-user-images.githubusercontent.com/168155221/332249882-7041f7f5-e8cc-49f6-b7a3-47b872990453.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTYyNjAwOTcsIm5iZiI6MTcxNjI1OTc5NywicGF0aCI6Ii8xNjgxNTUyMjEvMzMyMjQ5ODgyLTcwNDFmN2Y1LWU4Y2MtNDlmNi1iN2EzLTQ3Yjg3Mjk5MDQ1My5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTIxJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyMVQwMjQ5NTdaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lYmIxMDQzYzZhMmY3ZjBhMjJhNDNjMTQ1NDEyZTUyMmZlY2NiMzM3YWEyYmVmMDI0OGViOTQwNjViNmY3NjJkJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.k2c1ZZ0yttAoYdPfRFo0VaP8j_LNZTT-VZGuWGnxvfA [TerrainPlanner] Candidate start: 0 0 -1 [TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 [PlanningPanel] Set Planning Budget: 4 [TerrainPlanner] Planning budget: 4 Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation. at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-66.67 -8.16472e-15 0] SO2State [1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 -39.1876 0] SO2State [2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 -63.4069 0] SO2State [2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 -63.4069 0] SO2State [-2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 -39.1876 0] SO2State [-2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [66.67 0 0] SO2State [-1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 39.1876 0] SO2State [-0.942478] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 63.4069 0] SO2State [-0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 63.4069 0] SO2State [0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 39.1876 0] SO2State [0.942478] ]

Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.001156 seconds Solution Not found [ERROR] [1716255892.442294705, 1222.932000000]: TM : Time jump detected. Resetting time synchroniser.

Jaeyoung Lim @.***> 于2024年5月21日周二 08:57写道：

@sniper006006 https://github.com/sniper006006 You need to set the start and goal state using the interactive marker (press Update start, Update goal)

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2121502067, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVKPPLVBVB266KRQWLTZDKLYVAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRRGUYDEMBWG4 . You are receiving this because you were mentioned.Message ID: @.***>

sniper006006 commented 4 months ago

img_v3_02b4_e5b5682d-0e34-4e21-a5ff-546a9a47f9fg

Excuse me, I would like to ask the reason why after clicking "engage planner" here, the aircraft in QGC does not follow the planned route. Thank you.

Jaeyoung-Lim commented 4 months ago

@sniper006006 Did you solve the problem with the initial states being invalid?

Your start state does not match the initial loiter in QGC. You can set the start as your first loiter circle by pressing "Loiter Start"

sniper006006 commented 4 months ago

When I click ‘update start’ and ‘update goal’, there is no ‘invalid init state’, and the path planning is successful. However, clicking ‘loiter start’ does not generate a green circle, and after clicking ‘update goal’, the planning fails with the error ‘invalid init state’.

I would like to inquire why there is no green circle when clicking ‘loiter start’. Thank you.

img_v3_02b5_4f954642-3642-4582-8c92-881251781e1g

sniper006006 commented 4 months ago

When I click ‘update start’ and ‘update goal’, there is no ‘invalid init state’, and the path planning is successful. However, clicking ‘loiter start’ does not generate a green circle, and after clicking ‘update goal’, the planning fails with the error ‘invalid init state’.

I would like to inquire why there is no green circle when clicking ‘loiter start’. Thank you.

[image: img_v3_02b5_4f954642-3642-4582-8c92-881251781e1g] https://private-user-images.githubusercontent.com/168155221/333016420-b334907a-19f4-4292-b160-6114181d1b90.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY0MzI2NzEsIm5iZiI6MTcxNjQzMjM3MSwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzMDE2NDIwLWIzMzQ5MDdhLTE5ZjQtNDI5Mi1iMTYwLTYxMTQxODFkMWI5MC5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTIzJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyM1QwMjQ2MTFaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT02MTljYWEwYjIyZjZhNzNlNjU4MTQ4ODg5MWEyNjc3MTUxNmI5ZmIxODFlYjI5NDYzY2Y1MzJmMmMyMTk3ODA0JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.5fRwadvkTTZzPHK9syaSw-plriy72ISzG173kjShOdE

Jaeyoung Lim @.***> 于2024年5月22日周三 22:05写道：

@sniper006006 https://github.com/sniper006006 Did you solve the problem with the initial states being invalid?

Your start state does not match the initial loiter in QGC. You can set the start as your first loiter circle by pressing "Loiter Start"

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2124886987, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVINWELKABNJ3JEY4PDZDSQ2JAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRUHA4DMOJYG4 . You are receiving this because you were mentioned.Message ID: @.***>

Jaeyoung-Lim commented 4 months ago

@sniper006006 Update loiter button is used to set the current loiter circle of the vehicle as the start state. Therefore you need a valid loiter circle that the vehicle is flying in sitl in order to use it

sniper006006 commented 4 months ago

Why, when the aircraft has already entered a loitering state in RVIZ or QGroundControl (QGC), clicking "loiter start" does not generate a planned path. Is it necessary to modify the source code where Eigen::Vector3d mission_loitercenter{Eigen::Vector3d::Zero()}; is defined, such that the center should match the loitering center coordinates displayed in RVIZ? Thank you!

img_v3_02b6_8c765fa9-71fe-4fdd-891f-97c21e3560dg image

sniper006006 commented 4 months ago

Why, when the aircraft has already entered a loitering state in RVIZ or QGroundControl (QGC), clicking "loiter start" does not generate a planned path. Is it necessary to modify the source code where Eigen::Vector3d mission_loitercenter{Eigen::Vector3d::Zero()}; is defined, such that the center should match the loitering center coordinates displayed in RVIZ? Thank you!

[image: img_v3_02b6_8c765fa9-71fe-4fdd-891f-97c21e3560dg] https://private-user-images.githubusercontent.com/168155221/333560399-cb8987b0-0e6f-4da9-86f9-295f4f6efd66.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY1NDgwMjQsIm5iZiI6MTcxNjU0NzcyNCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzNTYwMzk5LWNiODk4N2IwLTBlNmYtNGRhOS04NmY5LTI5NWY0ZjZlZmQ2Ni5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI0JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyNFQxMDQ4NDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT00YjU1YjJlN2JkODk0YTExODkwZTQwNjEwMmJmYWYzY2EwMzJkODU3NmQ2ODUxMGYwYTk5ZmZjOTU5ZGNkNGZhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.jrSqGElXPyekZpvlj7a3aABEPvsLWqXPe7RLjDs6EYQ [image: image] https://private-user-images.githubusercontent.com/168155221/333561002-691f3959-2d32-4efb-98f4-2e797f5735d0.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY1NDgwMjQsIm5iZiI6MTcxNjU0NzcyNCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzNTYxMDAyLTY5MWYzOTU5LTJkMzItNGVmYi05OGY0LTJlNzk3ZjU3MzVkMC5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI0JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyNFQxMDQ4NDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lMDhlMWUwNjVlNTAyOTA1MDVlMTk1ZWRhNDkzM2Q2ZDRiY2M5Y2RlOGVlM2YzMWE0NDdiNzIzODI0YTI1ZjhiJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.w09pp_12zsKs0BeVThvYGDXcA01zI323GjY25uAahEQ

Jaeyoung Lim @.***> 于2024年5月23日周四 20:10写道：

@sniper006006 https://github.com/sniper006006 Update loiter button is used to set the current loiter circle of the vehicle as the start state. Therefore you need a valid loiter circle that the vehicle is flying in sitl in order to use it

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2126951612, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVORG3WLG7W6NRML6B3ZDXMCZAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRWHE2TCNRRGI . You are receiving this because you were mentioned.Message ID: @.***>

sniper006006 commented 4 months ago

I want to obtain the planned results for both the loiter start and goal positions. How should I set up my target coordinates and loiter coordinates? what I would do after executing the roslaunch terrain_navigation_ros test_terrain_planner.launch,THANK YOU!

sniper006006 commented 4 months ago

Hello，How do I set up the waypoints in QGC to enter this code? mavros_msgs::CommandCode::NAV_LOITER_UNLIM THANK YOU!

img_v3_02b9_e8a2a761-e8fc-43e7-8d8f-b1ca259f1cag

sniper006006 commented 4 months ago

Hello，How do I set up the waypoints in QGC to enter this code? mavros_msgs::CommandCode::NAV_LOITER_UNLIM THANK YOU!

[image: img_v3_02b9_e8a2a761-e8fc-43e7-8d8f-b1ca259f1cag] https://private-user-images.githubusercontent.com/168155221/333943534-41355dfb-2211-48ec-be87-d783e28c08a5.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY3NzkwNTgsIm5iZiI6MTcxNjc3ODc1OCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzOTQzNTM0LTQxMzU1ZGZiLTIyMTEtNDhlYy1iZTg3LWQ3ODNlMjhjMDhhNS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI3JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyN1QwMjU5MThaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lMzI2YzFlMDY0NWYyYjQyYmFlNWZlMTJhYThkNmVhODc3NDc4MDc1ODNhYTIyZDFiNTJkNzk0NzUzZTUzNDVhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.8z7eTTqZDYB_SUudObWwhZnsz2ObeitfYMFZchEIqOg

解阳瑞 @.***> 于2024年5月24日周五 18:49写道：

Why, when the aircraft has already entered a loitering state in RVIZ or QGroundControl (QGC), clicking "loiter start" does not generate a planned path. Is it necessary to modify the source code where Eigen::Vector3d mission_loitercenter{Eigen::Vector3d::Zero()}; is defined, such that the center should match the loitering center coordinates displayed in RVIZ? Thank you!

[image: img_v3_02b6_8c765fa9-71fe-4fdd-891f-97c21e3560dg] https://private-user-images.githubusercontent.com/168155221/333560399-cb8987b0-0e6f-4da9-86f9-295f4f6efd66.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY1NDgwMjQsIm5iZiI6MTcxNjU0NzcyNCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzNTYwMzk5LWNiODk4N2IwLTBlNmYtNGRhOS04NmY5LTI5NWY0ZjZlZmQ2Ni5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI0JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyNFQxMDQ4NDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT00YjU1YjJlN2JkODk0YTExODkwZTQwNjEwMmJmYWYzY2EwMzJkODU3NmQ2ODUxMGYwYTk5ZmZjOTU5ZGNkNGZhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.jrSqGElXPyekZpvlj7a3aABEPvsLWqXPe7RLjDs6EYQ [image: image] https://private-user-images.githubusercontent.com/168155221/333561002-691f3959-2d32-4efb-98f4-2e797f5735d0.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY1NDgwMjQsIm5iZiI6MTcxNjU0NzcyNCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzNTYxMDAyLTY5MWYzOTU5LTJkMzItNGVmYi05OGY0LTJlNzk3ZjU3MzVkMC5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI0JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyNFQxMDQ4NDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lMDhlMWUwNjVlNTAyOTA1MDVlMTk1ZWRhNDkzM2Q2ZDRiY2M5Y2RlOGVlM2YzMWE0NDdiNzIzODI0YTI1ZjhiJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.w09pp_12zsKs0BeVThvYGDXcA01zI323GjY25uAahEQ

Jaeyoung Lim @.***> 于2024年5月23日周四 20:10写道：

@sniper006006 https://github.com/sniper006006 Update loiter button is used to set the current loiter circle of the vehicle as the start state. Therefore you need a valid loiter circle that the vehicle is flying in sitl in order to use it

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2126951612, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVORG3WLG7W6NRML6B3ZDXMCZAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRWHE2TCNRRGI . You are receiving this because you were mentioned.Message ID: @.***>

sniper006006 commented 4 months ago

I have solved the problem with the initial states being invalid.My start state match the initial in QGC when press "loiter start".

Pressing ‘loiter start’ and ‘update goal’ can plan a path, but pressing ‘engage planner’ causes the vehicle to fly in an S-shaped trajectory along the planned path. What is the reason for this problem? Thank you very mnch. img_v3_02ba_fb5bd359-1a53-4756-86c2-1e31924286bg

sniper006006 commented 4 months ago

I have solved the problem with the initial states being invalid.My start state match the initial in QGC when press "loiter start".

Pressing ‘loiter start’ and ‘update goal’ can plan a path, but pressing ‘engage planner’ causes the vehicle to fly in an S-shaped trajectory along the planned path. What is the reason for this problem? Thank you very mnch. [image: img_v3_02ba_fb5bd359-1a53-4756-86c2-1e31924286bg] https://private-user-images.githubusercontent.com/168155221/334229874-f3c6bf86-abf0-4838-ad2b-9ce44d6942d9.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY4NTUzMDMsIm5iZiI6MTcxNjg1NTAwMywicGF0aCI6Ii8xNjgxNTUyMjEvMzM0MjI5ODc0LWYzYzZiZjg2LWFiZjAtNDgzOC1hZDJiLTljZTQ0ZDY5NDJkOS5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI4JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyOFQwMDEwMDNaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT02NWIyMDUxY2JlZmQwYzcyYTMzYWJlMTU1YWNmZTM0OWIxNWYzYWM5MGFiYjhjZGY0ZmRiYjY1MzNjOWJiZGYyJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.znZo7gXso9XKVl90VCPipKb9dKNZ35aPhhpUulA7ywU

解阳瑞 @.***> 于2024年5月27日周一 10:59写道：

Hello，How do I set up the waypoints in QGC to enter this code? mavros_msgs::CommandCode::NAV_LOITER_UNLIM THANK YOU!

[image: img_v3_02b9_e8a2a761-e8fc-43e7-8d8f-b1ca259f1cag] https://private-user-images.githubusercontent.com/168155221/333943534-41355dfb-2211-48ec-be87-d783e28c08a5.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY3NzkwNTgsIm5iZiI6MTcxNjc3ODc1OCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzOTQzNTM0LTQxMzU1ZGZiLTIyMTEtNDhlYy1iZTg3LWQ3ODNlMjhjMDhhNS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI3JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyN1QwMjU5MThaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lMzI2YzFlMDY0NWYyYjQyYmFlNWZlMTJhYThkNmVhODc3NDc4MDc1ODNhYTIyZDFiNTJkNzk0NzUzZTUzNDVhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.8z7eTTqZDYB_SUudObWwhZnsz2ObeitfYMFZchEIqOg

解阳瑞 @.***> 于2024年5月24日周五 18:49写道：

Why, when the aircraft has already entered a loitering state in RVIZ or QGroundControl (QGC), clicking "loiter start" does not generate a planned path. Is it necessary to modify the source code where Eigen::Vector3d mission_loitercenter{Eigen::Vector3d::Zero()}; is defined, such that the center should match the loitering center coordinates displayed in RVIZ? Thank you!

[image: img_v3_02b6_8c765fa9-71fe-4fdd-891f-97c21e3560dg] https://private-user-images.githubusercontent.com/168155221/333560399-cb8987b0-0e6f-4da9-86f9-295f4f6efd66.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY1NDgwMjQsIm5iZiI6MTcxNjU0NzcyNCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzNTYwMzk5LWNiODk4N2IwLTBlNmYtNGRhOS04NmY5LTI5NWY0ZjZlZmQ2Ni5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI0JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyNFQxMDQ4NDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT00YjU1YjJlN2JkODk0YTExODkwZTQwNjEwMmJmYWYzY2EwMzJkODU3NmQ2ODUxMGYwYTk5ZmZjOTU5ZGNkNGZhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.jrSqGElXPyekZpvlj7a3aABEPvsLWqXPe7RLjDs6EYQ [image: image] https://private-user-images.githubusercontent.com/168155221/333561002-691f3959-2d32-4efb-98f4-2e797f5735d0.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY1NDgwMjQsIm5iZiI6MTcxNjU0NzcyNCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMzNTYxMDAyLTY5MWYzOTU5LTJkMzItNGVmYi05OGY0LTJlNzk3ZjU3MzVkMC5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI0JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyNFQxMDQ4NDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lMDhlMWUwNjVlNTAyOTA1MDVlMTk1ZWRhNDkzM2Q2ZDRiY2M5Y2RlOGVlM2YzMWE0NDdiNzIzODI0YTI1ZjhiJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.w09pp_12zsKs0BeVThvYGDXcA01zI323GjY25uAahEQ

Jaeyoung Lim @.***> 于2024年5月23日周四 20:10写道：

@sniper006006 https://github.com/sniper006006 Update loiter button is used to set the current loiter circle of the vehicle as the start state. Therefore you need a valid loiter circle that the vehicle is flying in sitl in order to use it

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2126951612, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVORG3WLG7W6NRML6B3ZDXMCZAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRWHE2TCNRRGI . You are receiving this because you were mentioned.Message ID: @.***>

Jaeyoung-Lim commented 4 months ago

@sniper006006 Which version of PX4 are you using? You need to run the NPFG controller for the guidance. Make sure FW_USE_NPFG is enabled.

sniper006006 commented 4 months ago

Thank you!

img_v3_02ba_5051a466-4ece-41b3-98c5-2564a41b4d9g

I have been using the PX4 as shown in the image. I would like to inquire if I also need an NPFG controller to achieve the effect in your video, where I plan a flight path and then click "engage planner" to fly according to the planned path.

image

sniper006006 commented 4 months ago

Thank you!

[image: img_v3_02ba_5051a466-4ece-41b3-98c5-2564a41b4d9g] https://private-user-images.githubusercontent.com/168155221/334425146-ea71492a-8468-4e38-98d9-e3c445f87445.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY5MDI2MTMsIm5iZiI6MTcxNjkwMjMxMywicGF0aCI6Ii8xNjgxNTUyMjEvMzM0NDI1MTQ2LWVhNzE0OTJhLTg0NjgtNGUzOC05OGQ5LWUzYzQ0NWY4NzQ0NS5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI4JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyOFQxMzE4MzNaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1mZjg1MGFmNTJiMzRhNzQ0ZjJkNTViMjAxODZlZDg1ZmUyM2YwNGU3ODE2YzY3ZDk5NDkwMWNkYzIzYTAzMmVhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.t-5dbdLey29bHMHTOeYZLjX_mWLDVK2pLkralPMXTfU

I have been using the PX4 as shown in the image. I would like to inquire if I also need an NPFG controller to achieve the effect in your video, where I plan a flight path and then click "engage planner" to fly according to the planned path.

[image: image] https://private-user-images.githubusercontent.com/168155221/334426355-972fa2c1-590a-4b82-905b-13e8e2b33d3a.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY5MDI2MTMsIm5iZiI6MTcxNjkwMjMxMywicGF0aCI6Ii8xNjgxNTUyMjEvMzM0NDI2MzU1LTk3MmZhMmMxLTU5MGEtNGI4Mi05MDViLTEzZThlMmIzM2QzYS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI4JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyOFQxMzE4MzNaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lMTk3MTA2MTRhYWJkNTBmYmExNDFkODA4MzIzZmJiMDg2MDlmNzg5YmIxNGYwYWM0MzAzZmIzY2MxYzkzYTg5JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.gPukwyjaTiYaEKoBGHziLhfFm_8u8986VH70hiOVAWY

Jaeyoung Lim @.***> 于2024年5月28日周二 19:03写道：

@sniper006006 https://github.com/sniper006006 Which version of PX4 are you using? You need to run the NPFG controller for the guidance. Make sure FW_USE_NPFG is enabled.

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2134939490, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVLSTV35Q3O4HSOMZR3ZERP7BAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMZUHEZTSNBZGA . You are receiving this because you were mentioned.Message ID: @.***>

sniper006006 commented 4 months ago

DpfF5dZ7lL Without using an NPFG controller, after clicking "navigation" and "engage planner", the aircraft can fly according to the planned path, but the speed is limited to only 1m/s. What could be the reason for this? Thank you.

sniper006006 commented 4 months ago

[image: DpfF5dZ7lL] https://private-user-images.githubusercontent.com/168155221/334434347-dd45d0a7-ceae-4e59-99f8-f1998f13c2af.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY5MDQwNzcsIm5iZiI6MTcxNjkwMzc3NywicGF0aCI6Ii8xNjgxNTUyMjEvMzM0NDM0MzQ3LWRkNDVkMGE3LWNlYWUtNGU1OS05OWY4LWYxOTk4ZjEzYzJhZi5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI4JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyOFQxMzQyNTdaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1jNzc2OGExMTEzNzdlNDI5NmY3YzgzYjlhNWQ1NGYwM2UyNjk1NzIxOGE4M2NkZDdlODE5MzA3YTBiZmUxM2YzJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.B4w7QXcaYqitaFC1JKrqu10lbQIrZSWat6H2uqLegRg Without using an NPFG controller, after clicking "navigation" and "engage planner", the aircraft can fly according to the planned path, but the speed is limited to only 1m/s. What could be the reason for this? Thank you.

解阳瑞 @.***> 于2024年5月28日周二 21:19写道：

Thank you!

[image: img_v3_02ba_5051a466-4ece-41b3-98c5-2564a41b4d9g] https://private-user-images.githubusercontent.com/168155221/334425146-ea71492a-8468-4e38-98d9-e3c445f87445.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY5MDI2MTMsIm5iZiI6MTcxNjkwMjMxMywicGF0aCI6Ii8xNjgxNTUyMjEvMzM0NDI1MTQ2LWVhNzE0OTJhLTg0NjgtNGUzOC05OGQ5LWUzYzQ0NWY4NzQ0NS5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI4JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyOFQxMzE4MzNaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1mZjg1MGFmNTJiMzRhNzQ0ZjJkNTViMjAxODZlZDg1ZmUyM2YwNGU3ODE2YzY3ZDk5NDkwMWNkYzIzYTAzMmVhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.t-5dbdLey29bHMHTOeYZLjX_mWLDVK2pLkralPMXTfU

I have been using the PX4 as shown in the image. I would like to inquire if I also need an NPFG controller to achieve the effect in your video, where I plan a flight path and then click "engage planner" to fly according to the planned path.

[image: image] https://private-user-images.githubusercontent.com/168155221/334426355-972fa2c1-590a-4b82-905b-13e8e2b33d3a.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY5MDI2MTMsIm5iZiI6MTcxNjkwMjMxMywicGF0aCI6Ii8xNjgxNTUyMjEvMzM0NDI2MzU1LTk3MmZhMmMxLTU5MGEtNGI4Mi05MDViLTEzZThlMmIzM2QzYS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI4JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyOFQxMzE4MzNaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lMTk3MTA2MTRhYWJkNTBmYmExNDFkODA4MzIzZmJiMDg2MDlmNzg5YmIxNGYwYWM0MzAzZmIzY2MxYzkzYTg5JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.gPukwyjaTiYaEKoBGHziLhfFm_8u8986VH70hiOVAWY

Jaeyoung Lim @.***> 于2024年5月28日周二 19:03写道：

@sniper006006 https://github.com/sniper006006 Which version of PX4 are you using? You need to run the NPFG controller for the guidance. Make sure FW_USE_NPFG is enabled.

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2134939490, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVLSTV35Q3O4HSOMZR3ZERP7BAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMZUHEZTSNBZGA . You are receiving this because you were mentioned.Message ID: @.***>

Jaeyoung-Lim commented 4 months ago

@sniper006006 You are flying a VTOL vehicle, therefore you need to transition to fixed-wing first. (You can see you are in MR mode in QGC).

sniper006006 commented 4 months ago

Why is the vehicle unable to fly in a circular path after I switch it to Fixed-wing mode? Thank you Is it just a matter of clicking here to switch from MR to FW? img_v3_02bb_1d0495ab-cc3e-49e4-8adb-639f77e8510g

sniper006006 commented 4 months ago

Why is the vehicle unable to fly in a circular path after I switch it to Fixed-wing mode? Thank you Is it just a matter of clicking here to switch from MR to FW? [image: img_v3_02bb_1d0495ab-cc3e-49e4-8adb-639f77e8510g] https://private-user-images.githubusercontent.com/168155221/334823151-3a3420cd-8db2-446a-898f-7f26ac73d92d.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTY5OTA1OTksIm5iZiI6MTcxNjk5MDI5OSwicGF0aCI6Ii8xNjgxNTUyMjEvMzM0ODIzMTUxLTNhMzQyMGNkLThkYjItNDQ2YS04OThmLTdmMjZhYzczZDkyZC5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTI5JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyOVQxMzQ0NTlaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT00NzBhYjRhMGMzY2RiNTgzMjI1MGY1ZTM3YWNiY2Q0YTQzZGQ0MTI3ZjM4ODM5NmIwNGUyM2IxYjgyNWI3MWNiJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.kCmjuHABIkkWXVt2cxnjXi9T6i8xSkVGNll0A-gYZoI

Jaeyoung Lim @.***> 于2024年5月29日周三 19:50写道：

@sniper006006 https://github.com/sniper006006 You are flying a VTOL vehicle, therefore you need to transition to fixed-wing first. (You can see you are in MR mode in QGC).

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/terrain-navigation/issues/64#issuecomment-2137221238, or unsubscribe https://github.com/notifications/unsubscribe-auth/BIC5QVMJSOUIATJMYYJDHJDZEW6HJAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMZXGIZDCMRTHA . You are receiving this because you were mentioned.Message ID: @.***>

Jaeyoung-Lim commented 4 months ago

@sniper006006 Yes, but this means that there is something wrong on the px4 side(not related to the planner), since the vtol is not able to fly as a fixed-wing.

Have you tried running other VTOL types? or maybe pure fixed-wing?

rohitdhote111 commented 3 months ago

Hello, when I run roslaunch terrain_navigation_ros test_terrain_planner.launch, the following error occurred. I would like to ask about the reason for this issue.Thank you very much.

INFO [commander] Armed by external command INFO [tone_alarm] arming warning INFO [navigator] Executing Mission INFO [navigator] Takeoff to 60.0 meters above home [ INFO] [1715931050.319347357, 17.008000000]: GF: mission received [ INFO] [1715931050.319455910, 17.008000000]: RP: mission received [ INFO] [1715931050.319669263, 17.008000000]: WP: item #0* F:6 C: 84 p: 0 0 0 nan x: 468150028 y: 98472149 z: 60 [ INFO] [1715931050.319790467, 17.008000000]: WP: mission received INFO [commander] Takeoff detected [TerrainPlanner] - Successfully loaded map: /home/xyr/shared_dir/terrain-navigation0514/terrain-navigation-main/src/terrain-navigation/terrain_navigation_ros/../resources/davosdorf.tif [TerrainOmplRrt] Upper bounds: 2795 2475 2963.08 [TerrainOmplRrt] Lower bounds: -2795 -2475 1585.99 Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation. at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp [ INFO] [1715931081.372966790, 48.040000000]: WP: reached #0 [ INFO] [1715931081.413467934, 48.080000000]: WP: reached #0 [ INFO] [1715931081.513892406, 48.180000000]: WP: reached #0 [ INFO] [1715931081.613735453, 48.280000000]: WP: reached #0 [ INFO] [1715931081.713372006, 48.380000000]: WP: reached #0 [ INFO] [1715931081.813405059, 48.480000000]: WP: reached #0 [ INFO] [1715931081.913596673, 48.580000000]: WP: reached #0 [ INFO] [1715931082.013496794, 48.680000000]: WP: reached #0 [ INFO] [1715931082.113588892, 48.780000000]: WP: reached #0 [ INFO] [1715931082.214034258, 48.880000000]: WP: reached #0 [ INFO] [1715931082.314487366, 48.980000000]: WP: reached #0 [ERROR] [1715931084.752645503, 51.416000000]: TM : Time jump detected. Resetting time synchroniser. INFO [navigator] Mission finished, loitering [ERROR] [1715931135.353320173, 101.972000000]: TM : Time jump detected. Resetting time synchroniser. [ERROR] [1715931185.952667442, 152.524000000]: TM : Time jump detected. Resetting time synchroniser. [TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1 [PlanningPanel] Set Planning Budget: 4 [TerrainPlanner] Planning budget: 4 Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation. at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-66.67 -8.16472e-15 0] SO2State [1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 -39.1876 0] SO2State [2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 -63.4069 0] SO2State [2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 -63.4069 0] SO2State [-2.82743] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 -39.1876 0] SO2State [-2.19911] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [66.67 0 0] SO2State [-1.5708] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [53.9372 39.1876 0] SO2State [-0.942478] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [20.6022 63.4069 0] SO2State [-0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-20.6022 63.4069 0] SO2State [0.314159] ]

Warning: RRTstar: Skipping invalid start state (invalid bounds) at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp Debug: RRTstar: Discarded start state Compound state [ RealVectorState [-53.9372 39.1876 0] SO2State [0.942478] ]

Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.001614 seconds Solution Not found Error: RRTstar: There are no valid initial states! at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp Info: No solution found after 0.002011 seconds

I am also facing the same error: I tried increasing solve time from dashboard, I also tried sequence mentioned in screenshots (1. loiter start 2. update goal 3. Plan 4. Navigate 5. Engage Planner) BUT nothing works and facing the same error as (Solution not found) @Jaeyoung-Lim @sniper006006

Jaeyoung-Lim commented 3 months ago

@rohitdhote111 Are you sure that the start and goal position is defined as a valid position?

rohitdhote111 commented 3 months ago

[TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1

Can you please explain how to define a valid start and goal position? I am directly clicking option of 1. Loiter start and 2. update goal and getting below values [TerrainPlanner] Current Loiter start: 0 0 0 [TerrainPlanner] Candidate goal: 0 0 -1

Jaeyoung-Lim commented 3 months ago

@rohitdhote111 As explained above, you need to move the interactive marker and specify the start and goal by pressing "Update start" and "Update goal"

Jaeyoung-Lim commented 3 months ago

@rohitdhote111 I have added a more simple example in the readme, which doesn't require the operational complexity of operating a simulated VTOL. Can you try that out?

rohitdhote111 commented 3 months ago

@Jaeyoung-Lim My issue is resolved. Thanks for your support. I am using main branch which has C++ codes. Is python version available?

Jaeyoung-Lim commented 3 months ago

@rohitdhote111 Could you elaborate on what you mean by python code? Would you want another implementation that is functionally equivalent in python? Why would this be useful?

rohitdhote111 commented 3 months ago

@Jaeyoung-Lim My next step is considering radio signal range from base station for optimizing path planning. Means region which don't have access to radio signal cannot be considered for path planning and need to eliminate that region from "valid" region.

I was asking whether python branch is available as I am not much familiar with C++ and planning to do the next steps in python. But no worries I am trying to understand the C++ codes and will continue with this repo.

If possible, please provide guidance on path planning considering radio map.