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:
- you should keep null_tracker to run fast planner.
- 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.