STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning

[Preprint] [Video]

The code is now a bit of messy, I'll tide it up later.

Build & Run

Build

1. create a workspace, for example ~/ws/src
2. in ~/ws/src/, git clone [email protected]:ZJU-FAST-Lab/std-trees.git
3. in ~/ws/, run catkin_make

Run

In two seperate terminals, in ~/ws/, source first, then:

1. roslaunch state_machine rviz.launch
2. roslaunch state_machine test_planners.launch

If everything goes right, you'll see sth. like the following in Rviz.

The color indications are light blue for kRRT, dark blue for kRRT-ST, yellow for kRRT*, green for kRRT*-ST, orange for kRRT#, and red for kRRT#-ST. Planning with ST deformation generates smoother trajectories with lower cost (red, green, and dark blue compared with orange, yellow, and light blue, respectively)