NO Docker

[w0928]

Thanks for your great work, I would like to know what should I do if I don't want to use docker?

[aakapatel]

Hi @w0928,
Please check the Dockerfile and try to install and build the dependencies locally.
The tmuxinator file also has launch commands for drone simulator, controller etc.

If you follow the structure of dependencies installation and building base don Dockerfile, it should be possible to run the E-RRT framework without docker installation.

Let me know how it works out or if you encounter any issues.

Thanks,
Akash

[w0928]

你好@w0928， 请检查Dockerfile并尝试在本地安装和构建依赖项。tmuxinator 文件还包含无人机模拟器、控制器等的启动命令。

如果您遵循依赖项安装的结构并使用 Dockerfile 构建基础，则无需安装 docker 即可运行 E-RRT 框架。

请让我知道结果如何或者您是否遇到任何问题。

谢谢， 阿卡什
Thanks for your reply, I can use Docker. I want to deploy it to a real drone to complete autonomous exploration tasks. I didn’t see the part about the controller in your project. I want to know what else I need to do?

[aakapatel]

Hi,
The E-RRT framework outputs the final exploration path in multiple forms. One of them is MultiDOF trajectory accepted by rotors_simulator in gazebo. Apart from this if you check this line, there is a possibility to also publish a nav_msg::Odometry from which you can take position reference to send to the drone controller in real world experiment.

If you already have a position tracking controller, it should be sufficient. Please note that you need to modify the launch files and yaml parameter file to take correct odometry message from your drone.

Let me know if there is any issue,

Thanks,
Akash