/Fast-Planner

revised version for kr_mav_control on ROS noetic.

Primary LanguageC++GNU General Public License v3.0GPL-3.0

Fast-Planner

This is the revised version on Ubuntu 20.04/ROS noetic, which can work with the controller here: https://github.com/KumarRobotics/kr_mav_control

Independent planning module, code revised from fast planner: https://github.com/HKUST-Aerial-Robotics/Fast-Planner

Clone the repo and complie it:

$ git clone -b kr git@github.com:yuwei-wu/Fast-Planner.git
$ wstool init && wstool merge Fast-Planner/fast.rosinstall && wstool update
$ cd ..
$ catkin build

To run the code:

terminal 1:

roslaunch plan_manage  rviz.launch

terminal 2:

 roslaunch plan_manage  fast.launch sim:=true vicon:=false mav_name:=quadrotor random_map:=true

terminal 3:

rosrun rqt_mav_manager rqt_mav_manager

notice:

  1. you should keep null_tracker to run fast planner.
  2. you would better to disable the "MAVManager::setPositionCommand" or it may have issue when reaching to the goal point.

  • you can adjust the number and size of random maps with p_num and c_num in fast.launch. The default is set as cylinders.