zju-fast-lab / cmpcc Goto Github PK

        num_segment  = node["num_segment" ].as<int> ();
        traj_order = 5;
        K_data = node["K"].as <std::vector<double>>();
        K_max = node["K_max"].as <int>();？
        range  = node["range" ].as < std::vector < double >> ();
        long secs = node["final_time"]["secs"].as<long>() - node["start_time"]["secs"].as<long>();
        long nsecs = node["final_time"]["nsecs"].as<long>() - node["start_time"]["nsecs"].as<long>();
        global_traj_time = secs + nsecs*1e-9;
        thetaMax = global_traj_time;
        vector<double> coef_x = node["coef_x"].  as < vector < double >> ();//x轴轨迹参数 
        vector<double> coef_y = node["coef_y"].  as < vector < double >> ();//y轴轨迹参数
        vector<double> coef_z = node["coef_z"].  as < vector < double >> ();//z轴轨迹参数
        vector<double> tt     = node["time"].    as < vector < double >> ();//时间
        vector<double> ta     = node["time_acc"].as < vector < double >> ();//?
        vector<double> a      = node["a"].       as < vector < double >> ();//？
        vector<double> b      = node["b"].       as < vector < double >> ();//？
        vector<double> s      = node["s"].       as < vector < double >> ();//?

完整描述一条贝塞尔轨迹，只需要参数和时间就可以了吧？
想问一下traj.yaml中的K_data，ta,a,b,s都是什么含义呢？

安装依赖时，会显示已经无法定位到python pygame包；
启动sh后没有键盘控制界面。
采用其他单独安装的方法会发现安装在了python3下，python2和python中import仍然报错；
更改默认python版本不起作用

solve:
终端进入pyhon，python2，python3界面，确定import pygame在哪个版本下；
修改simulation.h文件第一行python指令为对应的版本，例如python3

The safe flight corridor(SFC) is generated via corridor.yaml, which is represented by convex hull. This is what i only know.

But, when i see the files "corridor.yaml" ,
I'm curious about the meaning of "points and normals" in the corridor.yaml.
And how i generate the SFC manually?

Best wishes, and hope for your reply

Under Ubuntu20.02 ROS neotic
catkin_make and report an error like this：

CMake Error at CMakeLists.txt:1:
Parse error. Expected a command name, got unquoted argument with text
"/opt/ros/noetic/share/catkin/cmake/toplevel.cmake".

solution:
delete the src/CmakeList

Hi. I'm undergrad student.
I'm now trying to re-implement your code with other qp solver.

But I have trouble with handling reference trajectory...
how could you generate traj.yaml with Teach-Repeat-Replan?

Can you give me some detailed explanation about each parameters?
I want to get those parameters online(with ros msg nav_msgs::Path).

Thanks for works and sharing your code.

How can I control the flight of a drone and add wind disturbance?
When I try to roslaunch cmpcc flyfly.launch, it reports a 'Resource not found: trr_global_planner' error. Does anyone know how to solve this issue? Thank you very much~

HI Jialin, I'm trying to use cmpcc to perform a comparison experiment on my ubuntu16.04 with ROS KINETIC. After I run the simulation.sh , I got some errors like this:

[ERROR] [1619329490.998581958]: Ignoring transform for child_frame_id "body" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)

It seems the tf didin't work well . and I checked some rostopic , found that most msg seems did not be published. But all the rosnode launched successfully.

I have try to exam the code, but didn't figure out. Have you ever try to run this simulation on ubuntu16.04? or could you give me some hint about where should I pay attention to modify the code ?