https://github.com/fkie/fkie-nbv-planner
Online Next-Best-View planner for 3D exploration and inspection with a mobile robot
https://github.com/fkie/fkie-nbv-planner
exploration next-best-view planning-algorithms ros
Last synced: 4 months ago
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Online Next-Best-View planner for 3D exploration and inspection with a mobile robot
- Host: GitHub
- URL: https://github.com/fkie/fkie-nbv-planner
- Owner: fkie
- License: bsd-3-clause
- Created: 2021-09-08T16:58:43.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2022-12-21T08:18:15.000Z (over 3 years ago)
- Last Synced: 2024-03-26T23:57:34.234Z (about 2 years ago)
- Topics: exploration, next-best-view, planning-algorithms, ros
- Language: C++
- Homepage: https://doi.org/10.1109/LRA.2022.3146558
- Size: 771 KB
- Stars: 33
- Watchers: 5
- Forks: 6
- Open Issues: 4
-
Metadata Files:
- Readme: README.rst
- License: LICENSE
Awesome Lists containing this project
README
================
FKIE NBV Planner
================
Description
-----------
The ``fkie_nbv_planner`` package provides view poses for online next-best-view
planning to perform 3D Exploration and Inspection tasks using a mobile
manipulator robot.
Checkout the teaser video on `YouTube `_:
.. image:: example.gif
:alt: Screencast of NBV planner in action
:target: https://www.youtube.com/watch?v=nsJ_LCio0h0
Citation
--------
If you use this work for scientific purposes, please consider to reference the following article:
.. code-block:: bibtex
@ARTICLE{9695293,
author={Naazare, Menaka and Rosas, Francisco Garcia and Schulz, Dirk},
journal={IEEE Robotics and Automation Letters},
title={Online Next-Best-View Planner for 3D-Exploration and Inspection With a Mobile Manipulator Robot},
year={2022},
volume={7},
number={2},
pages={3779-3786},
doi={10.1109/LRA.2022.3146558}
}
The article can be found on `IEEE Xplore `_ and
`arXiv `_.
Requirements
------------
This package has been tested on Ubuntu 20.04 and ROS Noetic
Installation
------------
- Install all dependencies:
.. code-block:: shell
sudo apt install libcgal-dev libeigen3-dev ros-noetic-gps-common ros-noetic-octomap \
ros-noetic-octomap-msgs ros-noetic-octomap-server \
ros-noetic-octomap-rviz-plugins ros-noetic-tf ros-noetic-tf2 \
ros-noetic-tf2-geometry-msgs ros-noetic-visualization-msgs \
ros-noetic-jsk-rviz-plugins
- Clone and build the custom packages
.. code-block:: shell
cd ${your_ros_workspace}
git -C src clone https://github.com/fkie/fkie_ddynamic_reconfigure.git
git -C src clone https://github.com/fkie/fkie-nbv-planner.git
git -C src clone https://github.com/fkie/fkie_environmental_measurements.git
catkin build fkie-nbv-planner
Try it out!
-----------
We highly recommend using `fkie_node_manager `_ for managing the ROS nodes.
``run_planner.launch`` starts the next-best-view planner:
.. code-block:: shell
roslaunch fkie_nbv_planner run_planner.launch
Project status
--------------
We are currently working on the Noetic version of the complete system that can
demonstrate the execution of the planner with a `husky base and a panda arm
`_ using behavior
trees. The complete system is planned to be available by the end of June 2022.
Acknowledgements
----------------
Our work builds upon ideas already presented in the literature:
- AEPlanner [`IEEE `_ | `GitHub `_]
- RH-NBVP [`IEEE `_ | `GitHub `_]
- mav_active_3D_planning [`IEEE `_ | `GitHub `_]
Authors
-------
- Menaka Naazare (`E-Mail `_)
- Francisco Garcia Rosas (`Email `_)