mav_hilbertmap_planning

mav_hilbertmap_planning is a motion planning framework to safely navigate in the unknown environment using Hilbert Maps

Prelimiaries

The prelimiary work on this project was done in matlab at the unknown_mavplanning_matlab repo.

Dependencies

• px4 avoidance
• mav_voxblox_planning

Running the code

The code can be launched by a launchfile using the following command.

roslaunch hilbert_mapper hilbert_mapper.launch

This will launch the hilbert_mapper node and the local_planner from the PX4/Avoidance repo, which will pipe the pointcloud data from a intel-realsense into the hilbert mapper. This is a test setup to verify that the pipeline is running.

Author

This project is part of the masters thesis of Jaeyoung Lim, ETH Zurich