drone_planner

Motion planner solutions for quadcopters.

Build Requirements

1. Install Eigen
2. Clone this repository to a catkin workspace:

cd ~/catkin_ws/src
git clone --recursive https://github.com/marcelino-pensa/drone_planner

If you don't need the minimum time motion planner, just run catkin_make in ~/catkin_ws. Otherwise, do the following:

3. Install OSQP

cd ~/catkin_ws/src/drone_planner/dependencies/P4/dependencies/osqp
git submode update --init --recursive
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .

4. Install ECOS

cd ~/catkin_ws/src/drone_planner/dependencies/ecos
make

5. Set the COMPILE_MIN_TIME_SERVICE flag to TRUE in ~/catkin_ws/src/drone_planner/CMakeLists.txt.

6. Compile by running catkin_make in ~/catkin_ws.