Generate and upload trajectories in real time
Posted: Tue Nov 19, 2019 3:01 am
Hello everyone,
I 'm working on a project that make the crazyflie track a complex trajectory. The waypoints of the trajectory changes randomly, and the position of the crazyflie and waypoints can be captured by the Optitrack, so to make the crazyflie track this changing trajectory, we need to generate and upload trajectory in real time. The way of generating trajectory is the same as the paper "Minimum Snap Trajectory Generation and Control for Quadrotors" by mellinger.
The problem is that I don't know how to re-upload several trajectories generated by computer during the crazyflie's flight.
I'm using optitrack and crazyswarm ros package, the controller I used is mellinger controller.
Does someone have some experience or information about ?
Thank you all!
I 'm working on a project that make the crazyflie track a complex trajectory. The waypoints of the trajectory changes randomly, and the position of the crazyflie and waypoints can be captured by the Optitrack, so to make the crazyflie track this changing trajectory, we need to generate and upload trajectory in real time. The way of generating trajectory is the same as the paper "Minimum Snap Trajectory Generation and Control for Quadrotors" by mellinger.
The problem is that I don't know how to re-upload several trajectories generated by computer during the crazyflie's flight.
I'm using optitrack and crazyswarm ros package, the controller I used is mellinger controller.
Does someone have some experience or information about ?
Thank you all!