Faster in 3D

[karolin15]

Hi,

Is it possible to use faster as a 3D planning algorithm for a drone, so that it can evade obstacles vertically? I have tried faster in a couple of worlds and it seems like it plans only in a plane towards the goal, and doesn't deviate it's height from that plane? I have used faster with the default values as given in the faster.yaml file, and only changed the maximum z coordinate (z_max) to a height that fits to my worlds.

Best wishes,
Karolin

[jtorde]

Hi @karolin15!

FASTER works completely in 3D. It will work in 2D only if you set z_max very similar to z_ground. For the default values available in faster.yaml, FASTER works in 3D. You can easily test this by introducing obstacles that force the drones to go up and down, or by setting a goal whose height is different than the starting location.

Let me know if this solves the issue!

[karolin15]

Hi @jtorde, thanks for the fast reply!!

I use worlds that contain multiple lined-up cube-shaped blocks with varying height of 6 to 200 meters - there is also varying space between the buildings where the drone could fly through. I have already set z_max to a very high value (500), so that should not be the issue. The starting and goal height is 5 meters. I change the goal via the terminal, as described in one of the issues #12 . The maximum flown height does not exceed 8 meters in my worlds ( ok yes, then obviously it can plan in 3D - my wording was probably not very precise :) ). This indicates that faster uses a strong preference towards horizontal evasion. Is that correct? I am trying to understand if the behavior that I see is right, or if I have to change any parameters or settings.

( I also changed the parameter force_goal_height to false, as I am changing the goal via terminal. I am not sure if that's correct? )