https://github.com/jaeyoung-lim/oaisys_active_planning

Interactive mode support for oaisys
https://github.com/jaeyoung-lim/oaisys_active_planning

drone planetary-science robotics simulation space

Last synced: 3 months ago
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Interactive mode support for oaisys

• Host: GitHub
• URL: https://github.com/jaeyoung-lim/oaisys_active_planning
• Owner: Jaeyoung-Lim
• Created: 2022-04-12T09:15:06.000Z (over 2 years ago)
• Default Branch: master
• Last Pushed: 2022-09-13T15:14:31.000Z (over 2 years ago)
• Last Synced: 2024-01-29T08:42:23.832Z (12 months ago)
• Topics: drone, planetary-science, robotics, simulation, space
• Language: C++
• Homepage:
• Size: 38.5 MB
• Stars: 4
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

        
# oaisys_active_planning

This repository includes a package which enables demonstrations of using the photorealistic terrain simulator [OAISYS](https://github.com/DLR-RM/oaisys) interactively. The interactive mode support for oaisys is added in https://github.com/DLR-RM/oaisys/pull/11

This project includes two demonstrations:

- **Mapping**: Reconstruction of demonstration with Voxblox with predefined viewpoints

- **Active Exploration**: Using [ethz-asl/mav_active_3d_planning](https://github.com/ethz-asl/mav_active_3d_planning) to demonstrate active viewpoint planning

## Build

The project can be built using the following command.

```

catkin build oaisys_client

```

## Running The project

There are two demonstrations 

```

roslaunch oaisys_client test_mapping

```

![oaisys_mapping](https://user-images.githubusercontent.com/5248102/170708874-4f43381f-7c78-4455-bc52-5591724df448.png)

```

roslaunch oaisys_client test_planning

```

![active_mapping](https://user-images.githubusercontent.com/5248102/170708512-55ae0569-9e6d-4eb1-8231-98fa596f27a5.png)

## Additional Information

This work has been presented  presented as a workshop paper at [ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment](https://www.dynsyslab.org/releasing-robots-into-the-wild-workshop/).

[[workshop](https://www.dynsyslab.org/releasing-robots-into-the-wild-workshop/).][[paper](https://elib.dlr.de/188049/1/interactive_oaisys_ws_paper_revised.pdf)]

```

@inproceedings{muller2022interactive,

  title={Interactive OAISYS: A photorealistic terrain simulation for robotics research},

  author={M{\"u}ller, Marcus Gerhard and Lim, Jaeyoung and Schmid, Lukas and Blum, Hermann and St{\"u}rzl, Wolfgang and Gawel, Abel and Siegwart, Roland and Triebel, Rudolph},

  booktitle={ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment},

  year={2022}

}

```