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Optimal trajectory planning for cinematography

How do I get set up?

git clone https://github.com/alfalcmar/optimal_navigation.git

cd acado
mkdir build
cd build
cmake ..
make
sudo make install

catkin build

How to command a shot

The shot executer node is in charge of receiving the desired shot. For that purpose you can interface with the service "/<uav_name>/action". For example, to command a follow shot from the shell:

rosservice call /uav1/action "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' shooting_action_type: 0 duration: 0.0 length: 0.0 target_type: 1 rt_parameter: {x: 5.0, y: 0.0, z: 3.0}"

shooting action type field

  • IDLE = 0 To stop the shooting action
  • GOTO = 1 To go to a specific waypoint
  • FOLLOW = 2 To follow the target maintaining a relative distance. You can select the relative distance with 'rt_parameter' field