plan_env

The plan_env package, submodule of Fast-Planner & EGO-Planner & PE-Planner

Introduction

If using "depth + (odom / pose)", set frame_id of map tp map If using "pointcloud + odom", set frame_id of map tp base_link

A* Search

• occupy_map.cpp

Fast-Planner

• sdf_map.cpp

EGO-Planner

• grid_map.cpp

PE-Planner

• map.cpp

Release Note

• v1.2.1: remove support for map_file
• v1.2.0: add support for PE-Planner
• v1.1.1: remove map_min_idx_ and map_max_idx_
• v1.1.0: replace camera_q with camera_r
• v1.0.4: add support for depthOdomCallback
• v1.0.3: Remove border inflation
• v1.0.2: add support for cloudCallback
• v1.0.1: Replace /map & /world with map

Installation

catkin_make install --source Planning/plan_env --build Planning/plan_env/build