yinhaolin-bot/Octomap_FastPlanner_hardware

FastPlanner using Octomap

Download mavros, mavlink from their respective Github repo

Catkin Folder Structure

All folder(workspaces) are in /home directory

1. PX4-Autopilot
   Contains mavros PX4 launch files

2. catkin_ws
   Contains mavros

3. fastplanner_ws
   Contains mapping, planning and controller

How To Run Hardware

Terminal 1:-

cd catkin_ws/
source devel/setup.bash
roslaunch mavros px4.launch

Terminal 2:-

cd fastplanner_ws/
source devel/setup.bash
roslaunch FastPlannerOctomap MappingDrone.launch

Give goal location using 2D Nav Goal option in rviz

Terminal 3:-

cd fastplanner_ws/
source devel/setup.bash
rosrun FastPlannerOctomap Planner

For the startOver option select either 1 or 0
Also give the height (in metres) of the goal location when prompted.

Terminal 4:-

cd fastplanner_ws/
source devel/setup.bash
rosrun FastPlannerOctomap Controller

Hardware demo:-

Youtube links:-

Reference:- https://github.com/deepak-1530/FastPlannerOctomap