global_planer about px4-avoidance HOT 5 CLOSED

1. Technically, no. SLAM is Simultaneous Localization And Mapping, the global planner does not do any localization, it relies on state estimate from the flight controller. It does build a map however, which is stored using an Octomap.
2. It's an A* search using a cost function that considers path length, risk of the path and smoothness.
3. Control is handled by PX4, the avoidance has nothing to do with it

@mrivi I have Villi's thesis on my laptop, can it be public? Might help the interested reader to put a link to it on the Readme. Same for @baumanta thesis.

from px4-avoidance.

Hello

PX4 doesn't do SLAM, and neither do the Global Planner. If you have a good source of position that can be used (eg. GPS) you can use the Global Planner to build a map, but it isn't very high quality since it is only designed to be accurate enough to do path planning.

In terms of integrating these into PX4, a better place to ask would be at http://discuss.px4.io/, where people from other parts of PX4 will see your question and be able to answer.

from px4-avoidance.

Thank you for the answer,

I have tried the global planing using gazebo-rviz. I have noticed that it is difficult to choose a point destination when there is no initial map.

I have been thinking about using rtabmap_ros for outdoor map making. And, during the global_planing fuse rtbmap estimate position with the state estimate of the flight controller.

What do you think?

from px4-avoidance.

@acpl00 I would say this is a quite ambitious plan. You would have to get rtabmap_ros to work on your setup, and evaluate the accuracy of the map. I highly doubt that it is more accurate then the state estimation PX4 already has, so probably not worth fusing (at least for outdoor settings). But you would have to evaluate that. In case it would really provide additional accuracy in position you would have to look into the PX4 EKF and think about how you could use your map. On the side of the planner you would have to switch the map the global planner already builds with yours, which probably is not trivial as the global planner expects an octomap format.
But feel free to contribute if you manage to improve anything.

from px4-avoidance.

Hi

Based what you have written I have few questions :)
1.- I was thinking in case I use rtabmap in the global map, how difficult would be to integrate GPS readings?

2.-What I understand is that the PX4 computes an EKF which is a kind of SLAM, right? and this estimation is based on GPS, right?

3.-How about to integrate the estimation of the PX4 to the rtabmap to build up a map? do you think would be a good idea?

4.-The ZED camera contains already a odometry, and I am using that to build a 3D map, how about fusing that odometry with the estimation of PX4 and feed the rtabmap to build the map and later on fuse that map when using global planner?

cheers and looking forward for your replay?

from px4-avoidance.