This repository is forked from https://github.com/ZJU-FAST-Lab/ego-planner.

build

sudo apt-get install libarmadillo-dev
cd ego-planner
catkin_make
source devel/setup.bash

Test with rosbag

• rosbag file path : jmarple-nas://Projects/2022_LIO/rosbag/livox_avia/2022_0616_LidarFlight_water_garden/filtered_05_yongin_bando.bag
• edited faster-lio : https://github.com/j-marple-dev/LIO-Algorithm/tree/test/ego-planner

in Docker of LIO-Algorithm

*** Check your Internet(ROS) settings ***

### shell 1
roslaunch faster_lio mapping_avia.launch
### shell 2
rosbag play filtered_05_yongin_bando.bag

in j-marple-dev/ego-planner

### shell 1
roslaunch ego_planner run_in_bag.launch
### shell 2
roslaunch rc_demo rc_demo.launch

Test with PX4 SITL

• PX4 firmware is required
• gazebo_models (for bayland)
• these are include in https://github.com/j-marple-dev/PX4-container-custom/tree/ego-planner

in Docker of PX4-container-custom

roslaunch simulation_environment ego_depth.launch

in ego-planner installed env

### shell 1
roslaunch ego_planner run_in_px4sim.launch
### shell 2
roslaunch rc_demo rc_demo.launch

PX4 setting

• EKF2_AID_MASK = 24
• EKF2_HGT_MODE = Vision
• MIS_TAKEOFF_ALT = 1.0

rc_demo

• enable only mouse-drag
• left : throttle & yawrate
• right : pitch & roll