hjreachability / fastrack Goto Github PK

[ INFO] [1565505794.668327332]: waitForService: Service [/replan] has not been advertised, waiting...

Hi,
Thank you for sharing this impressive code.
I am looking for a ros package, which takes the octomap and current pose as inputs and produces continuous trajectory points as output.
I wonder if this package has similiar interface?

Kind Regards,
Chang

Hi HJ Reachability Team,

I am trying to implement your algorithm as for our navigation project, and I saw that you return 0.0 when the value of a relative state is higher than priority_high

It is line 210 in matlab_value_function

Thanks!
Rico

Hi HJReachability team,

I'd like some help on running FasTrack.
I can launch software_demo.launch and see the simulation result in RViz,
but I cannot run software_dubins_demo.launch. The following error message will appear.

[ERROR] … MatlabFileReader: could not load file …/ros/src/fastrack/matlab/value_function.mat

I also tried to follow instructions in helperOC repository and generate value_function.mat using the MATLAB script ComputeTEB.m under …/ros/src/fastrack/matlab/, but the script will throw the following error.

Error using HJIPDE_solve (line 299)
Mismatch between plot and grid dimensions!

Error in ComputeTEB (line 143)
HJIPDE_solve(data0, tau, schemeData, minWith, HJIextraArgs);

Thanks for any help!

Our environment setup:
Ubuntu 16.04, ROS Kinetic and required ROS packages, and MATLAB R2016B

Now it is subscription-based, but it should be service-based.

FaSTrack's environment.h does not have functionality to do time-varying collision checking - its IsValid method does not have an argument for a time stamp corresponding to the position:
bool IsValid(const Vector3d &position, const Box &bound) const;