Code Structure and Interface

This repository contains three packages: two stand-alone planning frameworks corresponding to discrete (tmplanner_discrete) and continuous (tmplanner_continuous) variable monitoring, in addition to a toolset (tmplanner_tools) of convenience functions and simulation infrastructure used by both frameworks.

Each planning framework includes the following key components (same name under different package names):

• Node interface for ROS communication - tmplanner_node.cpp
• Planning unit - tmplanner.cpp
• Mapping unit - grid_map.cpp

Simulation demos for both packages are provided in the Gazebo-based RotorS environment.

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Subscribed Topics

• odometry (nav_msgs/Odometry) - odometry received from the UAV.
• image (sensor_msgs/Image) (tmplanner_continuous) - on-board camera images for continuous variable mapping.
• pose_array_measurements (geometry_msgs/PoseArray) (tmplanner_discrete) - list of target (e.g. AprilTag) detections received for discrete variable mapping.

Published Topics

• path_segments (planning_msgs/PolynomialTrajectory4D) - optimized path segments of the next finite-horizon path to go to the trajectory sampler, which interfaces with the controller.
• path_points_marker (visualization_msgs/Marker)- rviz markers for waypoints along the next path (points).
• polynomial_markers (visualization_msgs/MarkerArray) - rviz marker for polynomial paths (line).
• grid_map (nav_msgs/OccupancyGrid) (tmplanner_discrete) - occupancy map visualization of terrain for discrete variable mapping.

Services

• start_planning - start the informative motion planner.
• land - land at the current (x,y) position.