Maps

The paths are relative from the root of the github repository https://github.com/margaridaCF/FlyingOctomap_code

Synthetic Maps

Octomap used in the paper as a synthetic maps can be found at https://drive.google.com/open?id=1-JtF_7qWdcJbhTTvsHgNzIK83rHsUC97

Four components are needed to generate the synthetic map :

  • The obstacle model. Can be found in the git repo at architecture/models/puzzle_3 and made available to Gazebo.

  • px4. A modification of the Iris UAV is used. After setting up the ros workspaces, the xacro file is modified to include the Hokuyo. Follow instructions at section "hitl Try 3" of file _generate_plots/Paper - Lazy Theta Star Online.ipynb

  • The launch file. Can be found in the git repo at architecture/launch/sitl_laptop_collectData.launch

  • save octomap into file rosrun octomap_server octomap_saver map_name.bt

Outdoor Flights

During outdoor flights the vehicle was able both to navigate around a 7 by 8 meter obstacle. The world representation generated was used for extensive testing. This test process refered here as "experimental snapshot" combines the world representation generated outdoors with the processor used during the flights.

The octomaps used in the paper as experimental snapshots can be found are https://drive.google.com/open?id=1mGDAYPlDqOr-Ji6TpYvrEcKvrr1OWE0x

To perform a real flight the following resources were used:

  • The launch file for the Upboard. It launches all ROS nodes for the infrastructure of the autonomy of the UAV. Can be found in the git repo at realUav_upboard_px4comms.launch

  • The launch file for the Upboard. It launches all ROS nodes for the autonomy of the UAV. Can be found in the git repo at architecture/launch/realUav_upboard_path_command.launch

  • The launch file for the Ground Station. It launches all the ROS nodes for monitoring and logging. Can be found in the git repo at architecture/launch/realUav_laptop_monitor.launch

  • The instructions detailing path considerations and all commands can be found at section "Real Flight" of file _generate_plots/Paper - Lazy Theta Star Online.ipynb


Automated tests

In order to test over a large combination of inputs the tests were automated with the Google Test (gtest) framework.

The test were run using the -j1 option. Within the FlyingOctomap_codesrc/lazy_theta_star/test, they refer to the following files:

  • collect_results.cpp

  • collect_results_ortho_deterministic.cpp

  • lazyTheta_3d_puzzle_ortho_measurments.cpp