I tried using the gbplanner in a different simulation environment and a different UAV robot. The input to the gbplanner is the point cloud topic and the odom topic. While the output is the set of points (trajectory). I created a node to read all the trajectory points and send them to the controller of my drone. The drone was able to follow the path. However, the path generated is too close to the wall, and the drone sometimes hits the walls. In addition, I got the following warnings and errors in RVIZ for both the best and the ref paths and other tools:
Uninitialized quaternion, assuming identity
Here is the output from RVIZ:
Also, When I pressed Go home. It created the correct path as visualized, but it landed in a different place as shown in the following Image.
I can provide the terminal output as well.
Kindly let me know how to fix or enhance the performance of the planner on a different drone type.
I tried using the gbplanner in a different simulation environment and a different UAV robot. The input to the gbplanner is the point cloud topic and the odom topic. While the output is the set of points (trajectory). I created a node to read all the trajectory points and send them to the controller of my drone. The drone was able to follow the path. However, the path generated is too close to the wall, and the drone sometimes hits the walls. In addition, I got the following warnings and errors in RVIZ for both the best and the ref paths and other tools:
Uninitialized quaternion, assuming identityHere is the output from RVIZ:
Also, When I pressed Go home. It created the correct path as visualized, but it landed in a different place as shown in the following Image.
I can provide the terminal output as well.
Kindly let me know how to fix or enhance the performance of the planner on a different drone type.