michaelfyang/far_planner

Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments

far_planner's Issues

Deployment of an Ackermann-Drive Car

Hello author,

I encountered a problem when deploying far-planner. Our car is an Ackermann-drive car with a maximum steering angle of 45 degrees. Therefore, when moving along the path planned according to the code, the planned turning angle may be greater than the steering angle of the car, causing the car to be unable to turn to the predetermined path and stop in place. I checked the config/default.yaml file in far-planner. How can I set the parameters? One solution I thought of is to let the car detect the intersection in advance and plan the turning path in advance. I look forward to your reply, thank you.

problem of saving Vsibility Graph

When I am using the function of reading or saving Visibility Graph There are only a part of Vsibility Graph can be saved. The main path of the vehicle can be saved but the other line is missing.

The picture of real path which I want to save

The picture of path when I am reading

How to use far_planner in a known map environment

Thank you very much for your contribution. I want to save the 3D map in PCD format after building the map. The next time I directly import the map, I can use far_planner for planning only by positioning. How should I achieve this? Is it necessary to use far_planner to run the map and save the visibility graph first?

Contour extraction

Hello, thank you very much for this wonderful project, I am new to this project and would like to ask you a few questions.
What does the TopoFilterContours function in contour_detector.cpp in Far Planner do (I understand that it is removing sub-contours, but if it is sub-contours, then why not set the contour retrieval mode to RETR_EXTERNAL directly in Extract Contours cv::findContours?). ）;
Or is it the PointInsideAPoly function in utility.h, I understand that this should be to determine whether the robot is within the contour, why in the function TopoFilterContours there is a judgment of the function PointInsideAPoly.
I look forward to hearing from you. Thank!!!

How to add dynamic obstacles in the simulator?

Dear Lord , how can i add dynamic obstacles like cube 、cylinder which moving around the map in the specified area?? plz plz

Boundaries are not continuous, and empty areas have boundaries

I only use 16 lines lidar and RTK

Boundaries are not continuous, and empty areas have boundaries.I use my bags .
this is my lidar

this is my boundaries

How to edit boundary_graph.vgh by hand?

Empty ground appears terrain in my boundary_graph.vgh , How to edit by hand,I only use lidar and RTK.

Failure case of far_

How to output topic "/navigation_boundary" during navigation

I set the is_pub_boundary to True , there is still no message about the topic. And I also looked at the boundary_ The handler package also needs to be based on existing files to output navigation_ Boundary.Thanks a lot!

Failure case of far planner in simulation dataset

A failure case in campus dataset.

As can be seen in the photo(sorry for the low resolution) The goal_point is in green, which should be un-achievable.

But ideally, the behavior of far-planner should navigate to the rest of the un-explored places, trying to find a way out. After it can't find any way out, it could finally stop.

And as we could see in the visibility graph, there're at least three region to be explored, but far planner no longer inject waypoint.

Issue with Close-Range Loop Closure in Extracted 2D Grid Maps Using far-planner in Simulation

I am encountering a consistent issue while working with far-planner in a simulated environment. The problem arises with the extraction of 2D grid maps, where I frequently observe close-range loop closures that seem unintended and are affecting the planning performance. This will happen when the start point of simulated indoor system with a very high probability.


The above two picture is the vehicle can't move. This will both happen in Ubuntu18 and Ubuntu20.

Any insights or suggestions to resolve this problem would be greatly appreciated. Thank you for your support and for developing far-planner.

Best regards,
Zhang Liyu

what means IsAPillarPolygon in the contour_graph.cpp

hey my dear author , in the contour_graph.cpp i saw a bool func that IsAPillarPolygon , but i dont know what the func is done what means PillarPolygon literally?

Deploy with the real robot

Hello @MichaelFYang Thank you so much for sharing very much useful work.

By any chance is it possible suggest some tips on deploying this planner in the real robot with LiDAR sensor.

Appreciate any response.