michaelfyang / far_planner Goto Github PK
View Code? Open in Web Editor NEWFast, Attemptable Route Planner for Navigation in Known and Unknown Environments
Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments
Thank you very much for your contribution. I want to save the 3D map in PCD format after building the map. The next time I directly import the map, I can use far_planner for planning only by positioning. How should I achieve this? Is it necessary to use far_planner to run the map and save the visibility graph first?
Hello @MichaelFYang Thank you so much for sharing very much useful work.
By any chance is it possible suggest some tips on deploying this planner in the real robot with LiDAR sensor.
Appreciate any response.
hey my dear author , in the contour_graph.cpp i saw a bool func that IsAPillarPolygon , but i dont know what the func is done what means PillarPolygon literally?
Empty ground appears terrain in my boundary_graph.vgh , How to edit by hand,I only use lidar and RTK.
This can be used on a drone?
I set the is_pub_boundary to True , there is still no message about the topic. And I also looked at the boundary_ The handler package also needs to be based on existing files to output navigation_ Boundary.Thanks a lot!
I am encountering a consistent issue while working with far-planner in a simulated environment. The problem arises with the extraction of 2D grid maps, where I frequently observe close-range loop closures that seem unintended and are affecting the planning performance. This will happen when the start point of simulated indoor system with a very high probability.
The above two picture is the vehicle can't move. This will both happen in Ubuntu18 and Ubuntu20.
Any insights or suggestions to resolve this problem would be greatly appreciated. Thank you for your support and for developing far-planner.
Best regards,
Zhang Liyu
Hello, thank you very much for this wonderful project, I am new to this project and would like to ask you a few questions.
What does the TopoFilterContours function in contour_detector.cpp in Far Planner do (I understand that it is removing sub-contours, but if it is sub-contours, then why not set the contour retrieval mode to RETR_EXTERNAL directly in Extract Contours cv::findContours?). );
Or is it the PointInsideAPoly function in utility.h, I understand that this should be to determine whether the robot is within the contour, why in the function TopoFilterContours there is a judgment of the function PointInsideAPoly.
I look forward to hearing from you. Thank!!!
A failure case in campus dataset.
As can be seen in the photo(sorry for the low resolution) The goal_point is in green, which should be un-achievable.
But ideally, the behavior of far-planner should navigate to the rest of the un-explored places, trying to find a way out. After it can't find any way out, it could finally stop.
And as we could see in the visibility graph, there're at least three region to be explored, but far planner no longer inject waypoint.
Dear Lord , how can i add dynamic obstacles like cube 、cylinder which moving around the map in the specified area?? plz plz
Hello author,
I encountered a problem when deploying far-planner. Our car is an Ackermann-drive car with a maximum steering angle of 45 degrees. Therefore, when moving along the path planned according to the code, the planned turning angle may be greater than the steering angle of the car, causing the car to be unable to turn to the predetermined path and stop in place. I checked the config/default.yaml file in far-planner. How can I set the parameters? One solution I thought of is to let the car detect the intersection in advance and plan the turning path in advance. I look forward to your reply, thank you.
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