[ERROR] : No path to next viewpoint

[zhouruihhxxttxs]

Hello, hank you for your open source code, but I have some errors when running this program, please help me solve them:

1. When I run the node "roslaunch airsim_ros_pkgs airsim_node.launch", the drone will take off, but after running "roslaunch exploration_manager recon.launch", the drone will fall and twitch. My airsim is version 1.7.0.
2. No matter how I use 2D Nav Goal in Rviz to specify the direction, the drone will not start and prompt:

Triggered!
[triggerCallback]: from WAIT to PLAN
[ WARN] [1729847843.211661465]: STATIC!
start_pt_x:1.96763e-07
start_pt_y:-0.000281642
start_pt_z:-0.00248134
-----Planning Start!-----
-----Surface Prediction Start!-----
infer_ms:1.31114ms
ts_ms:5.38093ms
vec_ms:0.028172ms
[ WARN] [1729847843.224198953]: near_ground
1432
[ WARN] [1729847843.263506683]: Visit Cloud!
visit_num:7752
0.2003
Surface_Prediction_Time:51.9448ms!
-----Surface Prediction Finished!-----
-----Global Planning Start!-----
preprocess_time:0.151ms
-----------cluster_size:20
CEC_time:4.07164ms
visibility_time:0.075573ms
cloud number:20236
update_time:56.7186ms
partition_size:21
normal_select_time:0.927052ms
qualified_partition_size:21
sample_time:8.26978ms

TSP_time:7.16105ms
[ WARN] [1729847843.347940774]: global nbv yaw!
8.72093deg.
total_global:77.3747ms
[ WARN] [1729847843.347973255]: Global to NBV!
dist to NBV:4.4362
Global_Planning_Time:84.2733ms!
-----Global Planning Finished!-----
-----Local Planning Start!-----
None qualified viewpoints...
i:1
None qualified viewpoints...
i:1
None qualified viewpoints...
i:1

None qualified viewpoints...
---Construct Graph---
---Search optimal sequence---
Node: 6, edge: 5
[ WARN] [1729847843.350022682]: Same pos!
---Search Finish---
---Push Finish---
-----Local Planning Finished!-----
Local_Planning_Time:2.09972ms!
initial_local_path_length:8.69004m
initial_stoe:4.4362
local planner size: 5
start position: 1.96763e-07
-0.000281642
-0.00248134
end position: -0.0701274
-2.19982
4.14331
[ERROR] [1729847843.350371369]: No path to next viewpoint
Current Length: 0m.
[ WARN] [1729847843.350409610]: plan fail
[ INFO] [1729847844.226458297]: [FSM]: state: PLAN
[ WARN] [1729847844.226523846]: STATIC!
start_pt_x:1.96763e-07
start_pt_y:-0.000281642
start_pt_z:-0.00248134
-----Planning Start!-----
-----Surface Prediction Start!-----
infer_ms:1.59922ms
ts_ms:5.49861ms
vec_ms:0.021641ms
[ WARN] [1729847844.235036793]: near_ground
1414
[ WARN] [1729847844.271727817]: Visit Cloud!
visit_num:3374
0.2003
Surface_Prediction_Time:45.3162ms!
-----Surface Prediction Finished!-----
-----Global Planning Start!-----
preprocess_time:0.070118ms
-----------cluster_size:20
CEC_time:1.97787ms
visibility_time:0.093461ms
cloud number:20218
update_time:60.2519ms
partition_size:20
normal_select_time:0.497077ms
qualified_partition_size:20
sample_time:5.37749ms

TSP_time:6.38297ms
[ WARN] [1729847844.353202991]: global nbv yaw!
3.15589deg.
total_global:74.6509ms
[ WARN] [1729847844.353279889]: Global to NBV!
dist to NBV:8.95337
Global_Planning_Time:81.4026ms!
-----Global Planning Finished!-----
-----Local Planning Start!-----
None qualified viewpoints...
i:1
None qualified viewpoints...
i:1

None qualified viewpoints...
---Construct Graph---
---Search optimal sequence---
Node: 5, edge: 4
[ WARN] [1729847844.354947629]: Same pos!
---Search Finish---
---Push Finish---
-----Local Planning Finished!-----
Local_Planning_Time:1.69274ms!
[ WARN] [1729847844.355002438]: Far Goal!
initial_local_path_length:13.6579m
initial_stoe:8.95337
local planner size: 4
start position: 1.96763e-07
-0.000281642
-0.00248134
end position: -0.216066
7.15504
6.02147
[ERROR] [1729847844.355236552]: No path to next viewpoint

It seems that there is a problem with the A star search path, but why is the first starting point and end point like this every time I start airsim:
start position: 1.96763e-07,-0.000281642,-0.00248134
end position: -0.216066,7.15504,6.02147
Please help me solve this problem, I will be grateful...🥺

[zhouruihhxxttxs]

The environment is the palace you provide.🥺