/std-trees

STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning

[Preprint] [Video]

The code is now a bit of messy, I'll tide it up later.

Build & Run

Build

  1. create a workspace, for example ~/ws/src
  2. in ~/ws/src/, git clone git@github.com:ZJU-FAST-Lab/std-trees.git
  3. in ~/ws/, run catkin_make

Run

In two seperate terminals, in ~/ws/, source first, then:

  1. roslaunch state_machine rviz.launch
  2. roslaunch state_machine test_planners.launch

If everything goes right, you'll see sth. like the following in Rviz.

The color indications are light blue for kRRT, dark blue for kRRT-ST, yellow for kRRT*, green for kRRT*-ST, orange for kRRT#, and red for kRRT#-ST. Planning with ST deformation generates smoother trajectories with lower cost (red, green, and dark blue compared with orange, yellow, and light blue, respectively)