What represents the "rdf" and "rdf frame" in the repository quadrotor-collision-avoidance?

Hello! I have read your paper and now I am trying to integrate Nanomap with some sample-based motion planner. Could you give some examples? Thank you very much!

Was trying to follow the instruction in README.md
I think something is missing.
I made a catkin workspace and cloned the git code.
Steps followed are :

1. mkdir -p ~/nano_ws/src
2. cd ~/nano_ws
3. git clone
4. catkin_make
   4a. source devel/setup.bash
5. catkin_make run_tests_nanomap_ros

Problem with 5th step as "make run_tests_nanomap_ros -j8 -l8" failed".
Is some file missing? or some step which I should be doing or not doing above??

We are experimenting with seeing if NanoMap could be used instead of the traditional SLAM-based navigation planning. I'm been looking at what addPoseUpdates() does but I'm still not sure (seems like it takes a path of recent poses and updates the k-d tree). Is this a necessary component and how exactly would we get that data?

Thanks

May i start by pulling the docker into a raspberry pi and how would I do to tune this with my pi camera?

Do you know how long the published thrust in mavros_msgs/AttitudeTarget can keep influence in MAV?

Because the time delay has important role in motion implementation with this attitude_thrust?

Is there a python source code available for nanomaps ?

Have you a example rospackage, how to integrate nanomap with other motion planning rosnode?

HI,
I just tested nanomap after saw your awesome video from CSAIL youtube channel. Thank you for sharing this as open source code! Is that possible to get collision_visualization from nanomap_ros? The bag files you provided in the docker container have it and I think it might be useful for further testing or tuning the nanomap program. And is there any instruction providing more details about integrating nanomap with some planning node (like some planning nodes in ROS navigation stack)? Thanks!

Hi!,
I have read through you paper on Nanomap and it is really interesting approach. I have managed to pull down docker image provided in the document. However, I am a bit curious on how to integrate this Nanomap with the rotors_simulator. I found rotor_simulator. in your build folder in the docker, but I could not figure out how Nanomap can actually be integrated into rotor_simulator

I am now working on uav collision avoidance project using stereo camera and I think that your work here is really amazing. So I would like to see how could it be integrated into simulator so that I could try feeding point cloud generated with stereo camera instead of depth camera.

Thank you in advance 😄

when i catkin_make in the root of workspace, There is an error:
The specified base path "/home/nanomap_ros" contains a package but "catkin_make" must be invoked in the root of workspace

1. I have a question about the code in benchmarking_node.cpp. In the callback function "PointCloudCallback" 1000 points are sampled to query in sphere space around current pose. This is different from the paper, in which the query point is along the motion path. and now only the information of last query point is saved in "reply". Why the other query points are not saved as"reply".

2. I want to implement nanomap in UAV project. I have read the paper "Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps". now I use px4 as flight control. How can I use the "reply" from nanomap to realize obstacle avoidence. Could we publish and subscribe the same msg (parameter) with mavros like in repository "quadrotor-collision-avoidance"? could the value in thes msgs also be computed by reward function in paper?