Manually trigger replanning

[Kavin-Kailash]

Hello. Thanks for the great work.

I am interested in using this package in conjunction with a custom exploration planner, which provides path segments at some fixed interval of time.

I can see that the ego_replan_fsm file can be modified to accept waypoints from a external topic, however I am unclear as to how to make the planner track a new set of waypoints, while it's already executing the previous one.

Thanks in advance!!

[bigsuperZZZX]

Sorry for replying so late since I'm super busy recently!
It's easy to achieve that. All you need is to
First: change the "flight_type" to "1" in run_in_sim.launch, line 60 to enable waypoint input when flying.
Second: noticeing the callback function in ego_replan_fsm.cpp, line 64, you need to publish that topic which is a waypoint to make the drone to follow.

[bigsuperZZZX]

Hello, if you have no other questions, please close this issue.