Closed iamrajee closed 2 years ago
If I remember correctly that's something under development in the dev branch. It depends on mav_trajectory_gen package [1] and can receive the sequence of goals. It also has receding horizon planning. But I have to update the readme with build instructions. [1] https://github.com/ethz-asl/mav_trajectory_generation
Check this line for starts. https://github.com/malintha/multi_uav_simulator/blob/dev/src/Quadrotor.cpp#L254 The replanning horizon is set to 0.25s to react to rapid changes, you can change it to the trajectory length if you don't need replanning.
Check this line for starts. https://github.com/malintha/multi_uav_simulator/blob/dev/src/Quadrotor.cpp#L254
Will do that, thank you.
Use this to publish the desired state goal to each robot as as a geometry_msgs::Point &pt. https://github.com/malintha/multi_uav_simulator/blob/dev/src/Quadrotor.cpp#L73
Find here after launching a nearly empty Rviz. It would be great to provide some simple examples for those interested to play with the simulator. Thanks for sharing the code tho!
@Williamwenda I guess the config/simulation.rviz file has been missed out from the master branch. That populates the Rviz with robot models and other markers. I added that back in with https://github.com/malintha/multi_uav_simulator/commit/51810b3b6e095c22a8ecfe92520deb147c142cea, so it should show the drones now. Thanks for pointing that out. And thanks for the great suggestion! I will open a new thread for that.
@malintha Just tried it out. The simulation is pretty cool! Nice work, dude.
The support for publishing goals and RHP is now tested and needs to be merged to the master. Check: https://github.com/malintha/multi_uav_simulator/pull/5.
The support for publishing goals and RHP is now tested on the dev branch and needs to be merged to the master. Check: #5.
Thank you :)
@iamrajee There are some conflicts needs to be resolved before merging. But feel free to give it a try from the dev branch. I'd be happy hear any inputs (or if anything's broken before merging). :)
After launching the simulation, how can we give a navigation goal?