• Ubuntu 18.04
• ROS melodic
• Don't build OpenCV from Source

• Clone this package into your ~/catkin_ws/src

$ cd ~/catkin_ws/src
$ git clone https://github.com/mzahana/px4_fast_planner.git

• setup all dependencies as follows

$ cd ~/catkin_ws/src/px4_fast_planner/install
$ ./setup.sh

[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name api.ignitionfuel.org

Open ~/.ignition/fuel/config.yaml, replace|

    api.ignitionfuel.org

with

    fuel.ignitionrobotics.org

Don't run PX4 + Gazebo simulation

Change map (world file) in simulation

Easy way: Change outdoor_village.world to empty.world

Search empty.world in home folder. Copy && Paste. Finally, replace world_file_directory_link in {$px4_fast_planner}/mavros.launch file

        <arg name="world" default="$(find px4_fast_planner)/worlds/empty.world"/>

Replace fast_planner folder and px4_fast_planner folder (except px4_fast_planner/model) :man_technologist: (version Dieptranivsr) :man_technologist:

• Step1. Replace FastPlanner folder as your folder respectively
• Step2. Replace of px4_fast_planner folder as your folder respectively (can be ignored model folder)

$ roslaunch px4_fast_planner px4_fast_planner.launch
$ rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
pose:
  position:
    x: 19.0
    y: 15.0
    z: 3.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0"

Run Flightmare Simulation

$ cd ${Flightmare_Workspace}
$ source devel/setup.bash
$ roslaunch flightros rotors_gazebo.launch 
$ roslaunch px4_fast_planner flm_planner.launch