Ego Planner Reading Note

This is the reading note for ZJU-FAST-Lab/ego-planner-swarm: An efficient single/multi-agent trajectory planner for multicopters. (github.com)

This code repo is so complex that I can only go through a small part of it. In this reading note, I start from the process of launching the file: single_run_in_sim.launch. That is, what nodes does single drone in simulation environment uses and how do these nodes communicate with each other.

I also include detailed analysis of some important source file. For example, what are their core functions and what is the calling process of them.