Trajectory Planner for Quadcopter

This repo implements minimum snap trajectory optimization methods for quadcopters based on Octomap (C++/ROS).

Get Started:

This packages allow you generating collision-free trajectory based on your map. You can set start and goal by clicking or use code API.

• Quick DEMO:

  Trajectory_clicked_point.mp4

Installation

• Prerequiste:

  This pacakge depends on OSQP, OSQP-Eigen (C++/Eigen version of OSQP), Octomap. Please go to their official website for installation. If you are not familiar with CMake, you can follow the instruction below:

  # install OSQP
  cd PATH/TO/YOUR/PREFERED/DIRECTORY
  git clone --recursive https://github.com/osqp/osqp
  cd osqp
  mkdir build && cd build
  cmake -G "Unix Makefiles" ..
  cmake --build .
  sudo cmake --build . --target install
  
  # install OSQP-Eigen
  cd PATH/TO/YOUR/PREFERED/DIRECTORY
  git clone https://github.com/robotology/osqp-eigen.git
  cd osqp-eigen
  mkdir build && cd build
  cmake ..
  make
  sudo make install
  
  # install octoamp related packages
  sudo apt install ros-noetic-octomap*
  

• install:

  To realize global navigation, RRT/RRT* planner is used the global planner in this repo. It is not required if you want to write your own code using this repo. It is just for navigation demo.

  cd ~/catkin_ws/src
  git clone https://github.com/Zhefan-Xu/global_planner.git # OPTIONAL (ONLY required if you want to play with our demo)
  git clone https://github.com/Zhefan-Xu/trajectory_planner.git
  
  # make
  cd ~/catkin_ws
  catkin_make
  

Usage:

• I. Generate trajectory from start and goal click point:

  roslaunch trajectory_planner polyRRTInteractive.launch
  

  See quick demo video for its example.

• II. Navigation:

  roslaunch trajectory_planner polyRRTGoalInteractive.launch
  

  • Example 1 (Navigation):
  Navigation_clicked_point1.mp4
  • Example 2 (Navigation):
  Navigation_clicked_point2.mp4

Code API:

The following code explains how to use the trajPlanner::polyTrajOctomap to generate collision-free trajectory from waypoints.

#include <trajectory_planner/polyTrajOctomap.h>

int main(){
    ...
    ros::NodeHandle nh;

    // Initialize Planner
    trajPlanner::polyTrajOctomap polyPlanner (nh); // trajectory planner

    // Load Waypoint Path and generate trajectory
    polyPlanner.updatePath(path); // path: nav_msgs::Path
    polyPlanner.makePlan();

    // Get pose from trajectory
    polyPlanner.getPose(t); // get pose at time t
    ...
}

You can check src/polyRRTNode.cpp for more details.

Parameters:

Planner paramters can be edited in cfg/planner.yaml. The paramter names are pretty self-explained.

Reference:

• Mellinger, D. and Kumar, V., 2011, May. Minimum snap trajectory generation and control for quadrotors. In 2011 IEEE international conference on robotics and automation (pp. 2520-2525).
• Richter, C., Bry, A. and Roy, N., 2016. Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. In Robotics research (pp. 649-666). Springer, Cham.