Ego Planner Swarm

Module Role¶

planning/navigation/ego-planner-swarm is the ROS 2 planning submodule imported from ZJU FAST Lab. The tracked branch is ros2_version.

It belongs to the planning layer. It owns UAV local trajectory generation, obstacle avoidance, and swarm-planning validation. It does not own waypoint orchestration, behavior trees, or state monitoring.

Directory¶

planning/navigation/ego-planner-swarm

Current .gitmodules entry:

url = https://github.com/ZJU-FAST-Lab/ego-planner-swarm.git
branch = ros2_version

Main Packages¶

Directory	Role
`src/planner/plan_manage`	planner orchestration and launch entry points
`src/planner/plan_env`	local map and environment representation
`src/planner/path_searching`	path searching
`src/planner/bspline_opt`	B-spline trajectory optimization
`src/planner/traj_utils`	trajectory messages and helpers
`src/uav_simulator/*`	upstream UAV simulation and map-generation tools

DDS Requirement¶

The upstream README recommends CycloneDDS because the default FastDDS path can show significant runtime lag.

Install:

sudo apt install ros-humble-rmw-cyclonedds-cpp

Switch the current terminal:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Persist it in the shell:

echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
source ~/.bashrc

Verify:

ros2 doctor --report | grep "RMW middleware"

Common Commands¶

Launch RViz:

cd ~/venom_ws
source install/setup.bash
ros2 launch ego_planner rviz.launch.py

Single-drone simulation:

cd ~/venom_ws
source install/setup.bash
ros2 launch ego_planner single_run_in_sim.launch.py

Swarm simulation:

cd ~/venom_ws
source install/setup.bash
ros2 launch ego_planner swarm.launch.py

Large-swarm simulation:

cd ~/venom_ws
source install/setup.bash
ros2 launch ego_planner swarm_large.launch.py

Run with optional arguments:

cd ~/venom_ws
source install/setup.bash
ros2 launch ego_planner single_run_in_sim.launch.py use_mockamap:=True use_dynamic:=False

Arguments:

Argument	Meaning	Default
`use_mockamap`	Map generation mode. `False` uses Random Forest; `True` uses mockamap.	`False`
`use_dynamic`	Whether to consider dynamics.	`False`

Boundary In VNV¶

ego-planner-swarm stays under planning/navigation/
waypoint dispatch, task switching, and global monitoring belong under mission/
PX4 external-pose bridging should be assembled through driver/venom_px4_bridge and venom_bringup