poludmik / path-planning-for-multiple-uavs Goto Github PK

Hi This is really an interesting work!
I would like to use it without the mrs package, my idea is to perform a SITL simulation inside Gazebo using PX4 firmware.
In the package description you write "and the motion/detection modules are connected with a CTU MRS system.", what do you mean with motion/detection modules? Do you mean the slam system?
I have read your thesis (really good work), but I have not understand if this package is mandatory bound with CTU MRS system.
I was planning to use a drone with only a lidar (no depth camera), can I do it or the package need n Pointcloud2 data?
Another thing, your obstacle avoidance detect only "geometrical" know shapes as obstales? I mean, in the readme you witre that it can detect cylinder and spheres with lidar, but if the drone face a square colum, a wall or maybe a parked car, it avoid the obstacole or crash on it?

Can you please give me some suggestion about my idea? :)
Thanl you in advance.