GATEKEEPER + FASTER
A simulation repo which adds GATEKEEPER to the FASTER simulation environment.
I've defined true quadrotor dynamics, so that the tracking isnt perfect.
installation
git clone <this repo>
git submodule init
git submodule update
docker compose build
usage
From inside the docker containers, run
roslaunch gatekeeper all_launch.launch
to launch the simulation environment and faster's path planning algorithms
and then
roslaunch gatekeeper gatekeeper.launch
to launch gatekeeper