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sikang / mpl_ros

A ROS wrapper for trajectory planning based on motion primitives
Apache License 2.0
581 stars 148 forks source link

Real time planning with slam #12

Closed Changliu52 closed 5 years ago

Changliu52 commented 5 years ago

Hi Sikang, I'm currently running a visual slam and stereo depth together with voxblox mapping engine, which can publish surface point cloud from the incremental map.

How would you recommend to implement the real-time replan using this package?

Thank you in advance. Chang

sikang commented 5 years ago

The real-time performance largely depends on your system settings and environments. For moderate speed and map size, it should be fast enough to replan at ~10 Hz.

In order to use this lib, you may need to convert the point cloud you are using into the VoxelMap. Alternately, you can also re-write the collision checking function to directly use your point cloud.

You can try it, and let me know if there is any issue :)

Sikang

Changliu52 commented 5 years ago

Yes. I adopted the map_planner_node and converted the pointcloud to VoxelMap. Working perfectly.