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‎CHANGELOG.md

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# Changelog
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All notable changes to this project will be documented in this file.
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The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
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and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
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# v1.2.1 Feb 3, 2025
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- compatible with easondrone
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## v1.2.0: May 9, 2024
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- support XYZ_VEL control
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## v1.1.1: May 2, 2024
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- build pass
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## v1.1.0: May 1, 2024
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- [Update] Remove useless parameters
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- [Update] Face front for both drone and actor
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## v1.0.2: May 1, 2024
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- cancel sim_mode
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## v1.0.1: May 1, 2024
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- build pass

‎README.md

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@@ -5,17 +5,12 @@ The apf_local_planner package, modified from [local_planner](https://github.com/
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![HitCount](https://img.shields.io/endpoint?url=https%3A%2F%2Fhits.dwyl.com%2FHuaYuXiao%2FAPF-Planner.json%3Fcolor%3Dpink)
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![Static Badge](https://img.shields.io/badge/ROS-noetic-22314E?logo=ros)
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![Static Badge](https://img.shields.io/badge/C%2B%2B-17-00599C?logo=cplusplus)
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![Static Badge](https://img.shields.io/badge/MATLAB-2023b-?logo=)
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![Static Badge](https://img.shields.io/badge/Ubuntu-20.04.6-E95420?logo=ubuntu)
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video on [bilibili](https://www.bilibili.com/video/BV1Lr421u7z9/)
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## Release Note
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- v1.2.0: support `XYZ_VEL` control
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- v1.1.0: drone facing front while moving
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```bash
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cd ~/easondrone_ws
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catkin_make --source plan/apf_local_planner --build plan/apf_local_planner/build
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```
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‎config/apf_local_planner.rviz

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‎include/apf.h

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#include <algorithm>
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#include <iostream>
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#include <geometry_msgs/PoseStamped.h>
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#include <std_msgs/Empty.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <nav_msgs/Odometry.h>
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#include <pcl/point_cloud.h>
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using namespace std;
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namespace Local_Planning{
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class APF:public local_planning_alg{
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namespace apf_local_planner{
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class APF: public local_planning_alg{
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private:
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//　参数
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double inflate_distance;
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nav_msgs::Odometry cur_odom_;
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public:
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virtual void set_odom(const nav_msgs::Odometry cur_odom);
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virtual void set_local_map(sensor_msgs::PointCloud2ConstPtr &local_map_ptr);
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virtual void set_local_map_pcl(pcl::PointCloud<pcl::PointXYZ>::Ptr &pcl_ptr);
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~APF(){}
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typedef shared_ptr<APF> Ptr;
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};
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}
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‎include/local_planning_alg.h

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#include <Eigen/Eigen>
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#include <iostream>
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#include <ros/ros.h>
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#include <visualization_msgs/Marker.h>
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#include <geometry_msgs/PoseStamped.h>
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#include <std_msgs/Empty.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <nav_msgs/Odometry.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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using namespace std;
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namespace Local_Planning{
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namespace apf_local_planner{
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class local_planning_alg{
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public:
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typedef shared_ptr<local_planning_alg> Ptr;
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};
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}
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#endif

‎launch/apf_local_planner.launch

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<launch>
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<!-- 启动全局规划算法 -->
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<node pkg="apf_local_planner" type="apf_local_planner" name="apf_local_planner" output="screen" launch-prefix="gnome-terminal --">
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<param name="local_planner/local_pcl_topic_name" value="/prometheus/merged_pcl"/>
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<param name="cloud_topic" value="/livox/lidar"/>
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<!-- 最大速度 -->
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<param name="local_planner/max_planning_vel" value="0.6"/>
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<param name="manager/max_vel" value="0.7"/>
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<!-- APF参数 -->
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<!-- 膨胀参数，一般设置为无人机的半径或更大 -->
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<param name="apf/inflate_distance" value="0.35" type="double"/>
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<param name="grid_map/obstacles_inflation" value="0.35" type="double"/>
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<!-- 感知距离，只考虑感知距离内的障碍物 -->
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<param name="apf/obs_distance" value="5.0" type="double"/>
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<param name="grid_map/local_update_range" value="5.0" type="double"/>
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<!-- 增益 -->
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<param name="apf/k_repulsion" value="0.6" type="double"/>
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<param name="apf/k_attraction" value="0.4" type="double"/>
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<!-- 最大吸引距离 -->
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<param name="apf/max_att_dist" value="4" type="double"/>
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<!-- 地面高度，不考虑低于地面高度的障碍物 -->
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<param name="apf/ground_height" value="0.1" type="double"/>
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<param name="grid_map/ground_height" value="0.1" type="double"/>
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<!-- 地面安全高度，小于该高度，会产生向上推力 -->
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<param name="apf/ground_safe_height" value="0.3" type="double"/>
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<!-- 停止距离，小于该距离，停止自动飞行 -->

‎launch/mapping.launch

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‎launch/simulation.launch

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<launch>
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<!-- world -->
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<include file="$(find prometheus_gazebo)/launch/GFKD.launch"/>
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<include file="$(find easondrone_gazebo)/launch/mavros_posix_sitl.launch">
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<arg name="world" default="$(find easondrone_gazebo)/worlds/competition/cuadc2024.world"/>
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<arg name="sdf" default="$(find easondrone_gazebo)/models/drone/iris_d435i_mid360/iris_d435i_mid360.sdf"/>
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<arg name="gui" default="false"/>
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</include>
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<!-- 1号无人机 -->
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<include file="$(find prometheus_gazebo)/launch/sitl_$(arg model).launch"/>
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<node name="filter_pc" type="filter_pc" pkg="easondrone_mapping"/>
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<include file="$(find uav_control)/launch/uav_control_main_indoor.launch"/>
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<include file="$(find easondrone_gazebo)/launch/transform.launch"/>
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<!-- 启动octomap建图 -->
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<include file="$(find apf_planner)/launch/mapping.launch"/>
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<include file="$(find px4ctrl)/launch/px4ctrl.launch"/>
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<node type="odom_visualization" pkg="odom_visualization" name="odom_visualization"/>
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<!-- 启动导航 -->
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<include file="$(find apf_local_planner)/launch/apf_local_planner.launch"/>

‎src/apf.cpp

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#include "apf.h"
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namespace Local_Planning{
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namespace apf_local_planner{
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void APF::init(ros::NodeHandle& nh){
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has_local_map_ = false;
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nh.param("apf/inflate_distance", inflate_distance, 0.35); // 感知障碍物距离
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nh.param("grid_map/obstacles_inflation", inflate_distance, 0.35); // 感知障碍物距离
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nh.param("apf/sensor_max_range", sensor_max_range, 5.0); // 感知障碍物距离
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nh.param("apf/k_push", k_push, 0.8); // 推力增益
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nh.param("apf/k_att", k_att, 0.4); // 引力增益
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nh.param("apf/min_dist", min_dist, 0.2); // 最小壁障距离
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nh.param("apf/max_att_dist", max_att_dist, 5.0); // 最大吸引距离
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nh.param("apf/ground_height", ground_height, 0.1); // 地面高度
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nh.param("grid_map/ground_height", ground_height, 0.1); // 地面高度
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nh.param("apf/ground_safe_height", ground_safe_height, 0.3); // 地面安全距离
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nh.param("apf/safe_distance", safe_distance, 0.1); // 安全停止距离
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}

‎src/planner_node.cpp

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#include <ros/ros.h>
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#include "local_planning.h"
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using namespace Local_Planning;
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using namespace apf_local_planner;
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int main(int argc, char** argv){
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ros::init(argc, argv, "apf_local_planner");

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