Calculates x,y,z and yaw commands from a list of gate dimensions.
- python3
- matplotlib (optional)
usage: path_planner.py [--gatesin /path/to/gates.csv] [--pathout /path/to/path_out.csv]
[--pathin /path/to/spline.csv]
optional arguments:
--gatesin gates.csv Gate definitions input file
--pathout path.csv Path output file
--pathin spline.csv Spline input file
If --pathout is specified, a set of waypoints will be computed based on the gates input file. If matplotlib is available, a figure will be shown illustrating the resulting gate and path waypoint data.
If --pathin is specified, a spline representation can be overlayed on top of the gates data to visualize the smoothed path waypoints. Note: a separate path waypoints to spline generation algorithm must be used.
The gates file should be a csv with the following header, and appropriately followed rows of data.
column params:
- num Gate number
- x X coordinate of the center of the gate (m)
- y Y coordinate of the center of the gate (m)
- z Z coordinate of the center of the gate (m)
- rotation Rotation of the entry direction of the gate (degrees)
- offset_x Offset in X of the entry from the center of the gate (m)
- offset_y Offset in Y of the entry from the center of the gate (m)
- offset_z Offset in Z of the entry from the center of the gate (m)
- waypoint_before Distance to insert a waypoint before a gate (m) [0 = no waypoint]
- waypoint_after Distance to insert a waypoint after a gate (m) [0 = no waypoint]
This script was originally designed as part of the autonomous drone racing competition for IROS 2017 in Vancouver, BC.
