Xu Liu

Hi Nathan, Glad to hear your interest! Sounds good, feel free to reach out if any clarification regarding this issue is needed!

What is the importance of the timer (line 314)? Current idea is to set the z origin for the local map before timer starts, but would love to understand more...

As stated in the issue description: " the code changes should be minimal, but extensive testing is needed to make sure edge cases are handled properly by running 3D planning...

Is this all that matters? What about local_map_info which exists outside the scope of cropping the localMap? -- Currently, the voxels should be automatically set as occupied if they lie...

Hi Andre, Good questions! 1. "...but how does using a storage map increases the speed at which the local map is generated. Also, is the storage map only used when...

Hi Ankit, please see below for my explanation: 1. Check the [VoxelMap.msg](https://github.com/KumarRobotics/kr_autonomous_flight/blob/d5b9a659b7e4414f6c22e5a04b1ebec42a398753/autonomy_core/map_plan/planning_ros_msgs/msg/VoxelMap.msg), currently we have the following parameters: `std_msgs/Header header float32 resolution geometry_msgs/Point origin geometry_msgs/Point dim int8[] data ` You...

Hi Ankit, would you mind pasting your error message here? Also, did you make sure that you include the folder of VoxelMap.msg for all targets that use the VoxelMap message?

One suggestion is to make sure that for all the targets that use the voxelmap message, you are linking the planning_ros_msgs library correctly. Check the documentation below: target_include_directories https://cmake.org/cmake/help/latest/command/target_include_directories.html and...

Great job! Could you please create a Pull Request for this? After you create that, I will take a look. Thanks!

UPDATE: Changing label to hard, we need to further improve this according to Chao's suggestion here: https://github.com/KumarRobotics/kr_autonomous_flight/pull/151#issuecomment-1115543192