================ 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 <https://www.youtube.com/watch?v=nsJ_LCio0h0>_:

.. 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 <https://ieeexplore.ieee.org/abstract/document/9695293>_ and arXiv <https://arxiv.org/pdf/2203.10113.pdf>_.

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 <https://github.com/fkie/multimaster_fkie>_ 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 <https://github.com/fkie/fkie_husky_manipulation_simulation>_ 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 <https://ieeexplore.ieee.org/document/8633925>_ | GitHub <https://github.com/mseln/aeplanner>_]
• RH-NBVP [IEEE <https://ieeexplore.ieee.org/document/7487281>_ | GitHub <https://github.com/ethz-asl/nbvplanner>_]
• mav_active_3D_planning [IEEE <https://ieeexplore.ieee.org/document/8968434>_ | GitHub <https://github.com/ethz-asl/mav_active_3d_planning>_]

Authors

• Menaka Naazare (E-Mail <mailto:[email protected]>_)
• Francisco Garcia Rosas (Email <mailto:[email protected]>_)