separate esdf package from fast_planner
$ roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600"
$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
$ roslaunch esdf_planner exp_esdf_planner.launch
$ rosrun tf view_frames && evince frames.pdf
$ rosrun tf tf_echo map base_link
$ rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)"
$ rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)|(.*)global_position(.*)|(.*)imu(.*)|(.*)geometric_controller(.*)|(.*)reference(.*)"
$ rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)|(.*)global_position(.*)|(.*)imu(.*)|(.*)geometric_controller(.*)|(.*)reference(.*)|(.*)setpoint_raw(.*)|(.*)rgb_camera(.*)|(.*)stereo_module(.*)"
$ roslaunch esdf_planner sim.launch
$ roslaunch esdf_planner hitl_esdf_planner.launch
$ roslaunch esdf_planner px4_esdf_planner.launch
$ rostopic pub --once /command/trajectory trajectory_msgs/MultiDOFJointTrajectory "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names:
- ''
points:
- transforms:
- translation:
x: -2.0
y: 2.0
z: 1.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
velocities:
- linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
accelerations:
- linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
time_from_start:
secs: 0
nsecs: 0"
publishing and latching message for 3.0 seconds
$ roslaunch px4_fast_planner mavros.launch
$ roslaunch px4_fast_planner geometric_controller.launch
# SITL
$ roslaunch esdf_planner hitl_esdf_planner.launch
$ export GAZEBO_MODEL_PATH=`pwd`/models