https://github.com/zju-fast-lab/std-trees
STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning
https://github.com/zju-fast-lab/std-trees
Last synced: 11 months ago
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STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning
- Host: GitHub
- URL: https://github.com/zju-fast-lab/std-trees
- Owner: ZJU-FAST-Lab
- License: bsd-3-clause
- Created: 2021-09-15T08:33:30.000Z (almost 5 years ago)
- Default Branch: main
- Last Pushed: 2022-03-11T06:58:30.000Z (over 4 years ago)
- Last Synced: 2025-04-26T10:36:17.265Z (over 1 year ago)
- Language: C++
- Size: 23.7 MB
- Stars: 41
- Watchers: 5
- Forks: 8
- Open Issues: 3
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Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning
[[Preprint]](https://github.com/ZJU-FAST-Lab/std-trees/blob/main/misc/draft.pdf)
[[Video]](https://www.youtube.com/watch?v=uCOofavIp9w)
The code is now a bit of messy, I'll tide it up later.
## Build & Run
### Build
1. create a workspace, for example ~/ws/src
2. in ~/ws/src/, _git clone git@github.com:ZJU-FAST-Lab/std-trees.git_
3. in ~/ws/, run _catkin_make_
### Run
In two seperate terminals, in ~/ws/, _source_ first, then:
1. roslaunch state_machine rviz.launch
2. roslaunch state_machine test_planners.launch
If everything goes right, you'll see sth. like the following in Rviz.
The color indications are light blue for kRRT, dark
blue for kRRT-ST, yellow for kRRT*, green for kRRT*-ST, orange for kRRT#, and red for kRRT#-ST. Planning with ST deformation
generates smoother trajectories with lower cost (red, green, and dark blue compared with orange, yellow, and light blue, respectively)