planner

Overview

The repository contains packages for planning and tracking trajectories in a wildland burn environment. The following packages are included in the repo:

• commander: Handles system internal state, Pixhawk mode management, recieving guidance goals from QGroundControl, and tracking trajectories.
• planner: Handles planning requests, constructs trajecotry from planning output.

Installing planner

Create a catkin workspace:

This folder will probably be already created since the previous process would have created it. If it is not present, do:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --merge-devel
cd ~/catkin_ws/src
wstool init

Clone this repository

cd ~/catkin_ws/src
git clone https://github.com/laddcs/planner.git

Build Packages

cd ~/catkin_ws
catkin build
source ~/catkin_ws/devel/setup.bash

Test Planner Algorithms

cd ~/catkin_ws
catkin test planner

Running SIL Simulation

Build and run the simulation.

cd <Firmware_directory>
make px4_sitl_default gazebo

In a new terminal run

roslaunch planner planner_sil.launch