https://github.com/yuwei-wu/fast-planner

revised version for kr_mav_control on ROS noetic.
https://github.com/yuwei-wu/fast-planner

Last synced: about 2 months ago
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revised version for kr_mav_control on ROS noetic.

• Host: GitHub
• URL: https://github.com/yuwei-wu/fast-planner
• Owner: yuwei-wu
• License: gpl-3.0
• Created: 2021-10-09T22:03:38.000Z (about 3 years ago)
• Default Branch: kr
• Last Pushed: 2024-08-02T18:39:02.000Z (5 months ago)
• Last Synced: 2024-08-03T18:36:09.208Z (5 months ago)
• Language: C++
• Homepage:
• Size: 3.34 MB
• Stars: 22
• Watchers: 2
• Forks: 7
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# 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:

```console

$ git clone -b kr [email protected]: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

```

![](docs/eg.gif)

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.

![](docs/map.png)

* 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.