how to use it with octomap
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Deleted user commented
Hi,
I have recorded stereo data in rosbag. using which i can create a octomap and now i want to test this mav_trajectory_generation node.
what are all the topics needs to subscribed from the octomap to generate the smooth trajectory?
thanks!
--arun
rikba commented
Hi Arun,
this package only lets you generate smooth polynomial segments between a list of waypoints. For a collision free path within an octomap a few extra steps are necessary.
Richter, Bry and Roy suggest finding a straight-line RRT* plan first (e.g. using OMPL) and then connecting the waypoints of this plan with minimum-snap polynomials. See the paper for details.
Best,
Rik