Planner Server

An action server for nav_drone_msg::action::ComputePathToPose. Typically called by the nav_drone_bt_navigator ComputePathToPose action from this repository. Implements a plugin interface for the nav_drone_core::planner class

Depencencies

Octomap Server

This nodes listens to messages from the Octomap Server to obtain a view of all obstacles in the environment.

sudo apt-get install ros-foxy-octomap-server

Be sure to configure the Octomap server and run the required nodes to publish the octomap.

Testing

Whilst running the:

• Drone node to publish odometry
• Octomap Server to publish an octomap
• Something to populate the Octomap, either by file or by publishing a pointcloud. See Sensor Pointcloud for an example
• A Planner plugin of your choice. Here I run the dumb planner from this repository

Run the following and see a path returned

ros2 action send_goal /nav_drone/compute_path_to_pose "nav_drone_msgs/action/ComputePathToPose" '{planner_id: "DumbPlanner", use_start: True, start: {header: {frame_id: 'map'}, pose: {position: {x: 0, y: 0, z: 5}}}, goal: {header: {frame_id: 'map'}, pose: {position: {x: 1, y: 7, z: 5}}}}'

Code Status

This is still a work in progress. This code has flown in a simulator. (31/01/2023)