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View Code? Open in Web Editor NEWCMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight
CMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight
How can I control the flight of a drone and add wind disturbance?
When I try to roslaunch cmpcc flyfly.launch
, it reports a 'Resource not found: trr_global_planner' error. Does anyone know how to solve this issue? Thank you very much~
Hi. I'm undergrad student.
I'm now trying to re-implement your code with other qp solver.
But I have trouble with handling reference trajectory...
how could you generate traj.yaml with Teach-Repeat-Replan?
Can you give me some detailed explanation about each parameters?
I want to get those parameters online(with ros msg nav_msgs::Path).
Thanks for works and sharing your code.
Under Ubuntu20.02 ROS neotic
catkin_make and report an error like this:
CMake Error at CMakeLists.txt:1:
Parse error. Expected a command name, got unquoted argument with text
"/opt/ros/noetic/share/catkin/cmake/toplevel.cmake".
solution:
delete the src/CmakeList
HI Jialin, I'm trying to use cmpcc to perform a comparison experiment on my ubuntu16.04 with ROS KINETIC. After I run the simulation.sh , I got some errors like this:
[ERROR] [1619329490.998581958]: Ignoring transform for child_frame_id "body" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
It seems the tf didin't work well . and I checked some rostopic , found that most msg seems did not be published. But all the rosnode launched successfully.
I have try to exam the code, but didn't figure out. Have you ever try to run this simulation on ubuntu16.04? or could you give me some hint about where should I pay attention to modify the code ?
安装依赖时,会显示已经无法定位到python pygame包;
启动sh后没有键盘控制界面。
采用其他单独安装的方法会发现安装在了python3下,python2和python中import仍然报错;
更改默认python版本不起作用
solve:
终端进入pyhon,python2,python3界面,确定import pygame在哪个版本下;
修改simulation.h文件第一行python指令为对应的版本,例如python3
The safe flight corridor(SFC) is generated via corridor.yaml, which is represented by convex hull. This is what i only know.
But, when i see the files "corridor.yaml" ,
I'm curious about the meaning of "points and normals" in the corridor.yaml.
And how i generate the SFC manually?
Best wishes, and hope for your reply
num_segment = node["num_segment" ].as<int> ();
traj_order = 5;
K_data = node["K"].as <std::vector<double>>();
K_max = node["K_max"].as <int>();?
range = node["range" ].as < std::vector < double >> ();
long secs = node["final_time"]["secs"].as<long>() - node["start_time"]["secs"].as<long>();
long nsecs = node["final_time"]["nsecs"].as<long>() - node["start_time"]["nsecs"].as<long>();
global_traj_time = secs + nsecs*1e-9;
thetaMax = global_traj_time;
vector<double> coef_x = node["coef_x"]. as < vector < double >> ();//x轴轨迹参数
vector<double> coef_y = node["coef_y"]. as < vector < double >> ();//y轴轨迹参数
vector<double> coef_z = node["coef_z"]. as < vector < double >> ();//z轴轨迹参数
vector<double> tt = node["time"]. as < vector < double >> ();//时间
vector<double> ta = node["time_acc"].as < vector < double >> ();//?
vector<double> a = node["a"]. as < vector < double >> ();//?
vector<double> b = node["b"]. as < vector < double >> ();//?
vector<double> s = node["s"]. as < vector < double >> ();//?
完整描述一条贝塞尔轨迹,只需要参数和时间就可以了吧?
想问一下traj.yaml中的K_data,ta,a,b,s都是什么含义呢?
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