Comments (10)
- Agents run ROS master individually and communicate via a bridge we wrote.
- We use ntpdate for time sync.
- Of course because the global time is synchronized.
from ego-planner-v2.
Thanks for the info, I'll understand the bridge communication and update this thread
from ego-planner-v2.
Hi @bigsuperZZZX
I was wondering, initially when the system starts, all the drones will have a odom "0, 0, 0", how did you find the position of each drone in world frame such that, the offsets are added to the odom of each drone. is it made in a way such that they are equally placed away from each other and this offset is added in the odom from the beginning?
thanks
from ego-planner-v2.
We do it manually
from ego-planner-v2.
We do it manually
oh i see, so you transform the odometry of other drones in some central drone's frame right?
from ego-planner-v2.
yes
from ego-planner-v2.
yes
that's interesting, thanks for the info, I am facing difficulties in fetching orientation for accurate transforms, any ideas for that?
from ego-planner-v2.
Hi @bigsuperZZZX
why is /others_odom
being published from swarm_bridge
and traj2odom_node
I believe the odom published by traj2odom_node
node is generated from received traj based on time allocations and the odom published by swarm_bridge
is the true odom published by other agents, I am not sure why both of them are published on same topic and for drone_detect, which odom is useful?
is traj2odom_node only useful for simulation?
from ego-planner-v2.
to reduce communication burden
from ego-planner-v2.
to reduce communication burden
I understand, but the o/p of traj2odom_node
is useful for drone_detect only right?
from ego-planner-v2.
Related Issues (20)
- Hardware list HOT 1
- Running the RVIZ node does not load the preset white grid
- Drone movement is too aggressive HOT 34
- Why is multi-threaded spinner not used? HOT 12
- How is 3d point converted to 1D representation in buffer HOT 2
- 2D planning? HOT 3
- Planner not planning the path and not stopping the drone at the end of trajectory HOT 7
- Planner Unable to create plan in case of wide obstacles HOT 5
- If the given target point only changes the z axis, no one will be able to rotate and rise. Is this a bug? HOT 1
- software of FMU
- The optimized trajectories will collide with obstacles HOT 9
- Sorry for a meaningless pull request
- Localization and drift correction HOT 1
- ID identification problem between drones
- Sub-optimal paths when planning around obstacles
- Plan global traj through multiple WPs HOT 2
- 360 deg point cloud not showing up HOT 2
- yaw and yaw rate are same HOT 6
- occupancy grid not updating HOT 2
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from ego-planner-v2.