search

mit-acl / faster

3D Trajectory Planner in Unknown Environments
BSD 3-Clause "New" or "Revised" License
943 stars 179 forks source link

Help needed finding the parameters/variables #34

Closed Ganeshgng closed 2 years ago

Ganeshgng commented 2 years ago

Dear @jtorde, Can you please help me find the topics/parameters relevant to the flight times, Distances, MIQP Whole Traj, Cvx. Decomp. Whole Traj? Is fig 6: plot using rqt_multiplot_plugin?

image

jtorde commented 2 years ago

Hi @Ganeshgng,

The results in Table I, II, and III were obtained recording in a rosbag the /SQ01s/goal topic, and then computing the distance and the total time from that topic. Once you have the rosbag recorded, you can read it using either the rosbag API or the rosbag function of Matlab.

To obtain the times in Fig. 6, you can log the timing values in a txt (see this for example), and then plot them in MATLAB.

Hope this helps!

Ganeshgng commented 2 years ago

Hi @jtorde , Thank you for the reply, I was expecting you for a long time, I made some progress on your advice, I have recorded the rosbag file, and trying to compute the distance and time using the matlab, I confused that what formula should I use for jerk-controlled model, To be clear Here(in rosbag recorded (/SQ01s/goal) I have all the coordinates and velocity, acceleration that quadrotor travelled, the trajectory which is a 3D bezier curved right?

Is it possible for you to share the code to compute the distance travelled, time taken by quadrotor? It will help me to apply and evaluate in different worlds, performance of FASTER.

Ganeshgng commented 2 years ago

Thank you for the replies @jtorde. I learned many things through your research.