lighthouse定位系统入门教程-安装生成轨迹包

说明：

• 介绍如何安装生成轨迹包

• 基于系统ubuntu20.04

步骤:

• 安装依赖

sudo apt install libeigen3-dev libboost-program-options-dev libboost-filesystem-dev libnlopt-cxx-dev libgoogle-glog-dev

• 下载和编译包

git clone --recursive https://github.com/whoenig/uav_trajectories.git

mkdir uav_trajectories/build
cd uav_trajectories/build
cmake ..
make

• 生成给定航路点的轨迹traj1.csv

./genTrajectory -i ../examples/waypoints1.csv --v_max 1.0 --a_max 1.0 -o traj1.csv

• 生成轨迹给定时间位置

python3 ../examples/circle_with_time.py
python3 ../scripts/generate_trajectory.py timed_waypoints_circle0.csv circle0.csv --pieces 5

• 就地偏航旋转示例

python3 ../examples/yaw_with_time.py
python3 ../scripts/generate_trajectory.py timed_waypoints_yaw.csv yaw0.csv --pieces 5
python3 ../scripts/plot_trajectory.py yaw0.csv

• 可视化轨迹

python3 ../scripts/plot_trajectory.py traj1.csv

• 将轨迹转换为贝塞尔曲线

python3 ../scripts/convert_to_bezier.py traj1.csv bezier1.csv