Hi Gao,
Sorry to bother you, I have encountered the following problem， when i did the 'catkin_make -j1'.Ｉ use
ubunut14.04 \indigo \libboost1.54-dev.

Built target sdf_tools_generate_messages
[ 57%] Built target test_arc_utilities
[ 60%] Built target test_hierarchical_clustering
[ 63%] Building CXX object grad_traj_optimization/third_party/sdf_tools/CMakeFiles/sdf_tools.dir/src/sdf_tools/sdf.cpp.o
/home/relaybot/catkin_s0/src/grad_traj_optimization/third_party/sdf_tools/src/sdf_tools/sdf.cpp: In member function ‘double sdf_tools::SignedDistanceField::EstimateDistanceInternal(double, double, double, int64_t, int64_t, int64_t) const’:
/home/relaybot/catkin_s0/src/grad_traj_optimization/third_party/sdf_tools/src/sdf_tools/sdf.cpp:554:99: error: operands to ?: have different types ‘const Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op, const Eigen::Matrix<double, 3, 1> >’ and ‘const Vector3d {aka const Eigen::Matrix<double, 3, 1>}’
const Eigen::Vector3d direction_to_boundary = (nominal_sdf_distance >= 0.0) ? -gradient : gradient;
^
make[2]: *** [grad_traj_optimization/third_party/sdf_tools/CMakeFiles/sdf_tools.dir/src/sdf_tools/sdf.cpp.o] Error 1
make[1]: *** [grad_traj_optimization/third_party/sdf_tools/CMakeFiles/sdf_tools.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j3 -l3" failed
relaybot@ubuntu:~/catkin_s0$

hi, when I saw the vedio , it use a local map , how to create one ?

Looking for help
Thank you

Dear Developers,

In the README section 2. Prerequisities, the NLopt installation link should be redirect to the GitHub repository, https://github.com/stevengj/nlopt, instead of the NLopt document. The NLopt must be installed through CMake, yet the document suggested to download and build through Makefile. The detailed information doesn't work.

Just to clear up a bit of confusion.

Best,
Beck

Thank you for your good job in path optimization, and release your research, but i may find some bug in your implements.

here, V must be setzero, if not,

I compile the code in ubuntu 20.04 with NLopt 2.7.1. However, the trajectory generated by running roslaunch grad_traj_optimization text_input.launch looks like:

and is inconsistent with the demonstration. Does anyone meet the same problem?
Thanks!

have solved:
I modified the params in text_input.launch to be same with random.launch and looks no problems, thanks!

hello！I want to use this wonderful algorithm on the 2D grid map made by cartographer. Can you please give me some help on ？Thanks a lot！

Hi，Thanks for you great works.
Is the procedure suitable for service mobile robots?

Hi,
Thanks for sharing the nice code.
I wonder do you have any suggestion how to integrate it with octomap?

Many thanks.

Kind Regards,
Chang

I think now this repo needs a significant update. Includes but not limited with:

1. Get rid of the clumsy sdf_tools (too long building time). Replace it with our new lightweight sdf package.
2. Re-factor the interface. Make it can be used as a clean optimizer.
3. Clean duplicate parameters. Delete all hard-coded codes.

We test your code and compare it with your paper, [Gradient-Based Online Safe Trajectory for Quadrotor Flight in Complex Environments]. We have some questions about your project.

First, in your paper V-C, you mentioned that you first optimize the collision cost only. All the free variables will be pushed to the basin of the distance field from the neighborhood of obstacles. Then re-allocate the time and re-parameterize the trajectory to time according to current waypoints' postion.
Although, we found in your code. The first-setp optimize the trajectory's smooth and obstacle.The second-step optimize obstacles, trajectory's smooth, velocity and acceleration, which conflict with your paper work. We guess it is why sometime the final trajectory would have collision with the obstacles.

Second, sometimes the demo random would terminate like the image show below. There is some bug maybe?

@ZbyLGsc

Hi Gao,

I was trying to build GTOP on my own PC, but it seems that something wrong happened with building. Would you mind helping me fix with it?

Look forward to your reply.

/usr/include/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h:178:20: error: conversion to ‘RealScalar {aka double}’ alters ‘long double’ constant value [-Werror=float-conversion]
How can I fix this problem? Thanks.

Thank you for your good job！ Here I have a question of your implements. It might be a mistake in lines 649-657 of the grad_traj_optimizer.h ?

// ------------------------ gradient of collision cost------------------------
{
  for(int k = 0; k < 3; k++)
  {
    g_colli.row(k) = g_colli.row(k) + (gd * grad(k) * cd * vel_norm * T * Ldp +
                                       cd * (vel(k) / vel_norm) * T * V * Ldp) *
                                          dt;
  }
}

From the paper $∇_μ c ( p ( T_k ) )‖v‖F$, it seems that "cd" should be deleted in gd * grad(k) * cd * vel_norm * T * Ldp:

// ------------------------ gradient of collision cost------------------------
{
  for(int k = 0; k < 3; k++)
  {
    g_colli.row(k) = g_colli.row(k) + (gd * grad(k) * vel_norm * T * Ldp +
                                       cd * (vel(k) / vel_norm) * T * V * Ldp) *
                                          dt;
  }
}

Thank you for your response!

Hi, thank you very much for release the code, it is really helpful. Here is my problem.
When I am running a case using a cylinder obstacle and I set several waypoints around the cylinder.

Here is the initial trajectory. There is no collision.

Here is the trajectory after first step optimization, and there is no collision too.

While after second step optimization, the trajectory has collision with the obstacle.

Is it possible to have such a condition? Or it is because I am using some wrong parameters. Thank you very much for your time.

problem 1：

launch rviz and get errors like“lack goal3D tools"
Fixed:
get rviz plugin package somewhere and add it as a package into the workspace ,catkin_make again.source and roslaunch

problem 2：

roslaunch grad_traj_optimization random.launch
but get errors like

error while loading shared libraries: libnlopt.so.0: cannot open shared object file: No such file or directory

fixed:
sudo apt-get install libnlopt0