Creating trajectories and obstacles in Crazyflie sim

[PrajwalBBharadwaj]

I am working on implementing RRT* for quadrotor navigation. I would like to know if there is an option in the crazyflie simulation to display the trajectory once it has been generated / run. I also want to add obstacles in the simulation and would love to receive help on the same as well. Thank you!

[whoenig]

There are different visualization backends. For example, record_states can record a csv file which you can plot with matplotlib after the run. The default 3D visualization uses rviz. You can create a new ROS node that also publishes obstacle information to rviz, see https://answers.ros.org/question/373802/minimal-working-example-for-rviz-marker-publishing/ for a ROS1 example (should be very similar for ROS2). You could use a similar method to show a trajectory (as line segments).