hjreachability / fastrack Goto Github PK
View Code? Open in Web Editor NEWA ROS implementation of Fast and Safe Tracking (FaSTrack).
License: BSD 3-Clause "New" or "Revised" License
A ROS implementation of Fast and Safe Tracking (FaSTrack).
License: BSD 3-Clause "New" or "Revised" License
[ INFO] [1565505794.668327332]: waitForService: Service [/replan] has not been advertised, waiting...
Now it is subscription-based, but it should be service-based.
Hi HJReachability team,
I'd like some help on running FasTrack.
I can launch software_demo.launch
and see the simulation result in RViz,
but I cannot run software_dubins_demo.launch
. The following error message will appear.
[ERROR] … MatlabFileReader: could not load file …/ros/src/fastrack/matlab/value_function.mat
I also tried to follow instructions in helperOC
repository and generate value_function.mat
using the MATLAB script ComputeTEB.m
under …/ros/src/fastrack/matlab/
, but the script will throw the following error.
Error using HJIPDE_solve (line 299)
Mismatch between plot and grid dimensions!
Error in ComputeTEB (line 143)
HJIPDE_solve(data0, tau, schemeData, minWith, HJIextraArgs);
Thanks for any help!
Our environment setup:
Ubuntu 16.04, ROS Kinetic and required ROS packages, and MATLAB R2016B
Hi HJ Reachability Team,
I am trying to implement your algorithm as for our navigation project, and I saw that you return 0.0 when the value of a relative state is higher than priority_high
It is line 210 in matlab_value_function
Thanks!
Rico
Hi,
Thank you for sharing this impressive code.
I am looking for a ros package, which takes the octomap and current pose as inputs and produces continuous trajectory points as output.
I wonder if this package has similiar interface?
Kind Regards,
Chang
FaSTrack's environment.h does not have functionality to do time-varying collision checking - its IsValid method does not have an argument for a time stamp corresponding to the position:
bool IsValid(const Vector3d &position, const Box &bound) const;
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