Autonomous flight of a simulated quadrotor using ROS MoveIt!
Why Robotics Stack Exchange recommends it
Robotics Stack Exchange users link it as a working example of using MoveIt! with octomap and OMPL for quadrotor path planning and obstacle avoidance.
Recommended by 0 people across 0 different months, 2013 to 2017.
What it is
A short 2013 demo of a simulated quadrotor flying autonomously in ROS. A simulated RGBD sensor builds an octomap, OMPL plans the path through MoveIt!, and a simple controller turns the trajectory into cmd_vel commands. It comes from the author's computer engineering thesis, with code on GitHub.
What people said
Cites End-Effector · 2013-11 · Robotics Stack Exchange · on “ROS_PACKAGE_PATH problems”
Hello friends. I downloaded a folder with some rosbuild type packages. I'm trying to build the packages, but for that I needed to use the following command: export ROS_PACKAGE_PATH=/home/paulo/Workspace I then made rosmake name_of_package name_of_package and I built all of my downloaded packages. They all build without any errors, what is good. But the problem is the following. When I try to use roslaunch, ros tells me it can't locate roslaunch. Gives the following error: Invalid <param> tag: Cannot load command parameter [rosversion]: command [rosversion roslaunch] returned with code [1]. Param xml is <param command="rosversion roslaunch" name="rosversion"/> If I do the source /opt/ros/hydr
Cites Alex2309 · 2014-01 · Robotics Stack Exchange · on “quadrotor navigation by goal?”
@ZiyangLI If you only want map reconstruction using kinect rgbdslam alone does that, you can add an octomap_server connecting the output topic of rgbdslma to the input of octomap_server if you want a queryable map. But if you have in mind of doing some planning with the map switch to MoveIT, it's a complete framework for path planning that already implement map reconstruction with kinect. For example check out my work: [this video] Code available in the description Originally posted by Alex2309 [LINK] with karma: 163 on 2014-01-13 This answer was NOT ACCEPTED on the original site Post score: 2 Original comments Comment by ZiyangLI [LINK] on 2014-01-13 : Thank you very much for your reply! I have
Cites Flux · 2017-05 · Robotics Stack Exchange · on “Is MoveIt! suitable for fixed-wing aircraft path planning and obstacle avoidance?”
I have seen that it is possible to use MoveIt! for path planning and obstacle avoidance for quadcopters/quadrotors. For example: [LINK] [this video] Is MoveIt! as suitable for path planning and obstacle avoidance for fixed-wings aircraft as it is for quadrotors? The main difference I can think of is that quadrotors can stop at will, while fixed-wing aircraft have to continue moving to stay in the air. Will this be a problem for path-planning and obstacle avoidance in MoveIt?