zju-fast-lab / 3d2m-planner Goto Github PK

Dear authors,

Thanks for open-sourcing the project. The video looks nice too. I have a pretty trival question regarding your work and that is how did u model the vehicles on uneven grounds, and how is the flatness output constructed? I assume this can be found in the code but I guess it is never a bad choice to ask the creators. I'd appreciate it if you can give me some hints or refer me to some sections of the paper.

Best regards,
Yueqian

how can i solve this issue?

当我运行“sh exp1.sh”，并使用3D Nav Goal设置目标点后，经历了50s左右，终端告诉我：[A*] search failed.
具体的终端输出如下：

[TravelGridMap::generateESDF()] done!
[PCSMap Manager] total cost = 7169.84ms
init map A*-
[ WARN] [1667811939.672589160]: 3D Goal Set
sdf_cost = 1.2
sdf_grad = -0
-0
8
target = -17.3465
-6.83892
0
[ WARN] [1667811994.080229934]: Time consume in Astar path finding is 54.406627
[ WARN] [1667811994.080319707]: [A*] search failed.
[Planner Manager] total cost = 54429.4ms

我在阅读代码时遇到了困难，请问作者能否提供相关论文的链接

请问报这个错怎么解决呢？谢谢

Thanks for your great works!
Some dependencies should be installed:

1. (Vulcan-YJX)[https://github.com/Vulcan-YJX/VulcanSerial]
2. (OSQP)[https://osqp.org/docs/get_started/sources.html#build-from-sources]
3. (OSQP-Eigen)[https://github.com/robotology/osqp-eigen]

Thank you for this work, I was able to run the algorithm. However, I was wondering how can I use my own map and robot to run this planner ? what should I do if I don't have a pre-built map? (I have a robot equipped with a LiDAR)