Error in simulation - Planner Fails

[siddharthumakarthikeyan]

Hi,

1. I tried to launch the example. I launched the simulation with "roslaunch autonomous_flight dynamic_navigation.launch" and I when give first goal point, the quadrotor navigates in RVIZ navigates but not in gazebo and when it reaches that point, I tried to give another goal point but all I see is error and no plan is generated. I'm attaching the video of the same which can give you clear idea.

https://drive.google.com/file/d/1x-P6u9bIwuj1XQTzKm9oJJ6tOLY6lQoQ/view?usp=sharing

Please help me resolve this and when I try to give navigate to another point post first one.

2. And also I am trying to integrate the planner with my quadrotor and all I figured is /autonomous_flight/target_state will give the desired state of the robot but I'm confused on which topics I need to give the odom and depth_points.

3. Current simulation have any restriction to set the goal point? If so, how to expand and which file have that config.