Exploration-algorithms

How to build, install and run open-source exploration algorithms
The repo provides ready-to-go Docker image
Algorithms are:
- NBVP - Receding Horizon "Next-Best-View" Planner for 3D Exploration
- GBP - Graph-based Path Planning for Autonomous Robotic Exploration in Subterranean Environments
- GBP2 - Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots
- MBP - Motion Primitives-based Path Planning for Fast and Agile Exploration using Aerial Robots
- AEP - Efficient Autonomous Exploration Planning of Large-Scale 3-D Environments
- UFOExplorer - UFOExplorer: Fast and Scalable Sampling-Based Exploration With a Graph-Based Planning Structure
- FUEL - FUEL: Fast UAV Exploration Using Incremental Frontier Structure and Hierarchical Planning
- DSVP - DSVP: Dual-Stage Viewpoint Planner for Rapid Exploration by Dynamic Expansion
- TARE - TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments
- RHEM - Uncertainty-aware receding horizon exploration and mapping using aerial robots
- GLocal - A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments Under Severe Odometry Drift
- OIPP - An Efficient Sampling-Based Method for Online Informative Path Planning in Unknown Environments
- PredRecon - PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction
- ERRT - A Tree-based Next-best-trajectory Method for 3D UAV Exploration

List

1. Volumetric mapping purpose only

Name	Papers	Videos	Code	Main Group
NBVP	2016 ICRA		git	ETHZ-ASL
GBP	2019 IROS, 2020 JFR	youtube, youtube2, youtube3	Same with GBP2	ETHZ-ASL+RSL / NTNU-ARL
GBP2	2022 ICRA	youtube	git	ETHZ-ASL+RSL / NTNU-ARL
MBP	2020 ICRA	youtube, youtube2, youtube3	git	ETHZ-ASL / NTNU-ARL
AEP	2019 RAL	youtube	git	LiU-AIICS / KTH-RPL
UFOExplorer	2022 RAL	youtube	git	KTH-RPL
FUEL	2021 RAL	youtube	git	HKUST Aerial Robotics Group
DSVP	2021 IROS	youtube	git	CMU Robotics Institute
TARE	2021 RSS, 2021 ICRA	youtube	git	CMU Robotics Institute
ERRT	2024 T-RO	youtube	git	LTU-RAI

2. Volumetric mapping + Considering pose estimation

Name	Papers	Videos	Code	Main Group
RHEM	2017 ICRA, 2019 Autonomous Robots	youtube, youtube2	git	NTNU-ARL
GLocal	2021 RAL	youtube	git	ETHZ-ASL

3. Volumetric mapping + inspection/coverage path planning

Name	Papers	Videos	Code	Main Group
OIPP	2020 RAL	youtube	git	ETHZ-ASL
PredRecon	2023 ICRA (arXiv yet)	youtube	git	HKUST Aerial Robotics Group

Option1: How to build and run with the ready-to-go `docker` image

Installation

0. Install docker, get image, and generate container

Unfold to see

If you do not have docker yet, install it

curl -fsSL https://get.docker.com/ | sudo sh
sudo usermod -aG docker $USER

##### NVIDIA-Docker, GPU
distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
   && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
   && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update
sudo apt-get install -y nvidia-docker2
sudo systemctl restart docker

Get the ready-to-go docker image with dockerfile

make dockerfile with the contents:

FROM ghcr.io/engcang/exploration_sota:v1.0

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

USER ubuntu
WORKDIR /home/ubuntu
CMD /bin/bash

Then, make the image with docker build -t exploration .

Generate a docker conatiner with run.sh file

make run.sh with the contents:

#!/bin/sh

XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run --runtime=nvidia --privileged --gpus all --rm -it \
           --volume=$XSOCK:$XSOCK:rw \
           --volume=$XAUTH:$XAUTH:rw \
           --volume=$HOME:$HOME \
           --shm-size=4gb \
           --env="XAUTHORITY=${XAUTH}" \
           --env="DISPLAY=${DISPLAY}" \
           --env=TERM=xterm-256color \
           --env=QT_X11_NO_MITSHM=1 \
           --net=host \
           exploration:latest
           bash

Then run container as follows:
```
chmod +x run.sh
./run.sh
```

1. How to run

Unfold to see

In the docker,

cd ~/
ls #see .sh files there

# NBVP
./nbvp.sh

# GBP
./gbp.sh
!!Then, click "Start planner" in Rviz

# MBP
./mbp.sh
!!Then, click "Start planner" in Rviz

# AEP
./aep_gazebo.sh
./aep.sh lidar #with lidar sensor
./aep.sh rgbd #with rgbd sensor
rosservice call /mavros/cmd/arming "value: true"
rosservice call /mavros/set_mode "base_mode: 0 custom_mode: 'OFFBOARD'"

# FUEL
./fuel.sh
!!Start with "2D Nav Goal" in Rviz

# DSVP
./dsvp_tare_sim.sh
./dsvp.sh

# TARE
./dsvp_tare_sim.sh
./tare.sh

# OIPP
./oipp.sh
rosservice call /planner/planner_node/toggle_running "data: true"

Option2: How to build and run on your local computer

Installation

0. Common dependencies

ROS: all
OctoMap: NBVP, GBP, MBP, AEP, DSVP
Voxblox: MBP, GBP, OIPP

1. Install simulator (required)

Unfold to see

Note: When having PX4-SITL and RotorS Simulator at the same time

They both use libmav_msgs.so file with the same name but different source codes.
If you have both simulators, do not forget to change the name of either one temporally.
- PX4-SITL: PX4-Autopilot/build/px4_sitl_default/build_gazebo/libmav_msgs.so
- RotorS: <workspace>/build/rotors_gazebo_plugins/libmav_msgs.so

1-1. Install PX4-SITL - for AEP

Follow here

1-2. Install RotorS Simulator - for NBVP, GBP, MBP, OIPP, ERRT

Because of the version issuse, I recommend to install as here

Get the code and build

cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/glog_catkin.git
git clone https://github.com/ethz-asl/rotors_simulator --recursive
rm -r rotors_simulator/rotors_description
rm -r rotors_simulator/rotors_gazebo

cd ~/catkin_ws
git clone https://github.com/engcang/exploration-algorithms
mv exploration-algorithms/rotors_description src/rotors_simulator/
mv exploration-algorithms/rotors_gazebo src/rotors_simulator/

catkin build -DCMAKE_BUILD_TYPE=Release

1-3. Install Autonomous Exploration Development Environment - for DSVP, TARE

Follow here

2. Install algorithms

Note: When having NBVP, GBP, MBP at the same time

They use different versions of volumetric_mapping, rotors_simulator, mav_comm, eigen_catkin, eigen_checks, etc...

2-1. NBVP

Unfold to see

Install dependencies and get the code

cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/nbvplanner.git
cd nbvplanner
git submodule update --init --recursive

rm -r rotors # install it as above Section 1-2.
cd mav_comm && git pull origin master

Change CMakeLists.txt and build the code

cd ~/catkin_ws/src/nbvplanner/nbvplanner
wget -O CMakeLists.txt https://raw.githubusercontent.com/engcang/exploration-algorithms/main/nbvp/nbvplanner/CMakeLists.txt
cd ~/catkin_ws/src/nbvplanner/interface_nbvp_rotors
wget -O CMakeLists.txt https://raw.githubusercontent.com/engcang/exploration-algorithms/main/nbvp/interface_nbvp_rotors/CMakeLists.txt

cd ~/catkin_ws
catkin build -DCMAKE_BUILD_TYPE=Release

2-2. GBP2

Unfold to see

Install dependencies and get the code

sudo apt install python-catkin-tools \
libgoogle-glog-dev \
ros-melodic-joy \
ros-melodic-twist-mux \
ros-melodic-interactive-marker-twist-server \
ros-melodic-octomap-ros

cd catkin_ws
git clone https://github.com/ntnu-arl/gbplanner_ros.git -b gbplanner2

wstool init
wstool merge ./gbplanner_ros/packages_ssh.rosinstall
wstool update

rm -r src/sim/rotors_simulator #install it as above Section 1-2.

Build

cd ~/catkin_ws
catkin build -DCMAKE_BUILD_TYPE=Release

2-3. GBP1

Unfold to see

Clone and build the code

cd ~/catkin_ws
git clone https://github.com/ntnu-arl/gbplanner_ws.git
cd gbplanner_ws
git checkout origin/melodic
wstool init
wstool merge packages_https.rosinstall
wstool update

mv gbplanner_ws/src/* ~/catkin_ws/src/
cd ~/catkin_ws
rm -r src/sim/rotors_simulator # install it as above Section 1-2.

Change the path of Eigen in
- gbplanner_ros/gbplanner/include/gbplanner/params.h
- gbplanner_ros/gbplanner/include/gbplanner/gbplanner_rviz.h
- gbplanner_ros/gbplanner/include/gbplanner/geofence_manager.h
- gbplanner_ros/gbplanner/include/gbplanner/graph_manager.h
- gbplanner_ros/gbplanner/include/gbplanner/map_manager.h
- gbplanner_ros/gbplanner/include/gbplanner/rrg.h
```
//#include <eigen3/Eigen/Dense>
#include <Eigen/Dense>
```

Build

cd ~/catkin_ws
catkin build -DCMAKE_BUILD_TYPE=Release

!Optionally, for use with OctoMap
catkin build -DCMAKE_BUILD_TYPE=Release -DUSE_OCTOMAP=1

2-4. MBP

Unfold to see

Get the code and build

git clone https://github.com/ntnu-arl/mbplanner_ws.git
cd mbplanner_ws
git checkout melodic-devel
wstool init
wstool merge packages_https.rosinstall
wstool update

mv mbplanner_ws/src/* ~/catkin_ws/src/
cd ~/catkin_ws
rm -r src/sim/rotors_simulator # install it as above Section 1-2.

Fix the code error
- exploration/mbplanner/mbplanner_ros/planner_common/src/params.cpp
- Line 847 (in MBParams::loadParams(std::string ns))
```
// Add
return true;
```
Change the path of Eigen in exploration/mbplanner_ros/planner_common/include/planner_common/visualizer.h
```
//#include <eigen3/Eigen/Dense>
#include <Eigen/Dense>
```

Build

cd ~/catkin_ws
catkin build -DCMAKE_BUILD_TYPE=Release

!Optionally, for use with OctoMap
catkin build -DCMAKE_BUILD_TYPE=Release -DUSE_OCTOMAP=1

Trouble shooting for planner_common
- When opencv path errors from image_proc,
  - Change the directory of opencv in /opt/ros/melodic/share/image_proc/cmake/image_procConfig.cmake

2-5. AEP

Unfold to see

Install dependencies and build the code

sudo apt install ros-melodic-octomap* 
sudo apt-get install libspatialindex-dev
python2 -m pip install rtree

cd ~/catkin_ws/src/
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/mseln/aeplanner.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

## If PCL errors in rpl_exploration,
## change compiler to newer than c++14
## in line 4 for CMakeLists.txt of rpl_exploration

2-6. FUEL

Unfold to see

Install dependencies

sudo apt-get install libarmadillo-dev
sudo apt-get install libdw-dev
git clone https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build && cd build
cmake ..
make
sudo make install

Get the code and change CMakeLists.txt of bsline_opt

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/FUEL.git
cd FUEL/fuel_planner/bspline_opt
wget -O CMakeLists.txt https://raw.githubusercontent.com/engcang/exploration-algorithms/main/fuel/CMakeLists.txt

Change compiler into c++14 in all CMakeLists.txt files

#set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS "-std=c++14")

Fix the code error
- FUEL/fuel_planner/path_searching/src/kinodynamic_astar.cpp
- Line 654 (in int KinodynamicAstar::timeToIndex(double time))
```
// Add
return idx;
```

Build the code

cd ~/catkin_ws
catkin build -DCMAKE_BUILD_TYPE=Release

2-7. DSVP

Unfold to see

Install dependencies and get the code

sudo apt install ros-melodic-octomap-ros libgoogle-glog-dev libgflags-dev

cd ~/catkin_ws/src
git clone https://github.com/HongbiaoZ/dsv_planner.git
cd dsv_planner
git checkout origin/melodic

Fix CMakeLists.txt in dsv_planner/src/volumetric_mapping/octomap_world

#target_link_libraries(octomap_manager ${PROJECT_NAME} glog)
target_link_libraries(octomap_manager ${PROJECT_NAME} glog gflags)

Fix CMakeLists.txt in dsv_planner/src/dsvplanner/dsvplanner

find_package(catkin REQUIRED COMPONENTS
  roscpp
  geometry_msgs
  visualization_msgs
  message_generation
  octomap_world
  tf
  kdtree
  std_msgs
  nav_msgs
  misc_utils
  graph_planner #ADDED
  graph_utils
)

Change the path of Eigen in
- dsv_planner/src/dsvplanner/dsvplanner/include/dsvplanner/drrt_base.h
- dsv_planner/src/dsvplanner/dsvplanner/src/drrtp.cpp
- dsv_planner/src/dsvplanner/dsvplanner/src/drrtp_node.cpp
```
//#include <eigen3/Eigen/Dense>
#include <Eigen/Dense>
```

Build the code

cd ~/catkin_ws
catkin build -DCMAKE_BUILD_TYPE=Release

2-8. TARE

Unfold to see

Get and build the code

cd ~/catkin_ws/src
git clone https://github.com/caochao39/tare_planner.git
cd ..

sudo apt remove libflags* ### as it is using OR-Tools

catkin build -DCMAKE_BUILD_TYPE=Release

2-9. OIPP - without Unreal, Gazebo instead (thanks to Dongkyu Lee)

Unfold to see

Get dependencies

sudo apt-get install python-wstool python-catkin-tools
sudo apt-get install ros-melodic-cmake-modules ros-melodic-control-toolbox ros-melodic-joy ros-melodic-octomap-ros ros-melodic-mavlink ros-melodic-geographic-msgs autoconf libyaml-cpp-dev protobuf-compiler libgoogle-glog-dev liblapacke-dev libgeographic-dev

cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/mav_active_3d_planning
wstool init
wstool merge mav_active_3d_planning/mav_active_3d_planning_https.rosinstall
wstool update

rm -r rotors_simulator # install it as above Section 1-2.
rm -r yaml_cpp_catkin # prevent confliction

cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

2-10. ERRT

Unfold to see

Install dependencies

sudo apt-get update
sudo apt-get --with-new-pkgs upgrade -y
sudo apt-get install -y mesa-utils \
                        libgl1-mesa-glx \
                        vim \
                        tmuxinator \
                        python3-catkin-tools \
                        python3-osrf-pycommon \
                        python3-pip \
                        libtbb-dev \
                        ros-noetic-octomap-server \
                        ros-noetic-octomap-ros \
                        ros-noetic-octomap-rviz-plugins \
                        ros-noetic-octomap-mapping \
                        libtool \
                        libgoogle-glog-dev \
                        libnlopt-dev \
                        libsuitesparse-dev \
                        ros-noetic-nlopt \
                        liblapacke-dev \
                        ros-noetic-gtsam \
                        ros-noetic-rosmon \
                        iputils-ping \
                        apt-transport-https ca-certificates \
                        openssh-server python3-pip exuberant-ctags \
                        git vim tmux nano htop sudo curl wget gnupg2 \
                        bash-completion \
                        libcanberra-gtk3-0 \
                        ros-noetic-gmapping ros-noetic-slam-gmapping ros-noetic-openslam-gmapping \
                        ros-noetic-joy \
                        ros-noetic-twist-mux \
                        ros-noetic-interactive-marker-twist-server \
                        ros-noetic-fath-pivot-mount-description \
                        ros-noetic-flir-camera-description \
                        ros-noetic-realsense2-description \
                        ros-noetic-lms1xx \
                        ros-noetic-robot-localization \
                        ros-noetic-teleop-twist-keyboard \
                        ros-noetic-teleop-twist-joy \
                        ros-noetic-rviz-imu-plugin \
                        ros-noetic-gmapping \
                        ros-noetic-mavros-msgs \
                        ros-noetic-move-base-msgs \
                        ros-noetic-tf2-sensor-msgs \
                        python3-catkin-tools \
                        python3-osrf-pycommon \
                        libtbb-dev \
                        qtbase5-dev \
                        qtdeclarative5-dev \
                        libqt5x11extras5-dev
pip3 install opengen
pip3 install gdown

curl https://sh.rustup.rs -sSf | sh -s -- -y
# Add Rust binaries to the PATH
RUN echo "source $HOME/.cargo/env" >> /home/$USER_NAME/.bashrc

Install ROS dependencies

git clone https://github.com/ethz-asl/eigen_checks.git
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/eigen_catkin.git
git clone https://github.com/ntnu-arl/lidar_simulator.git
git clone https://github.com/ethz-asl/mav_comm.git
git clone https://github.com/ros-planning/navigation_msgs.git
git clone https://github.com/ethz-asl/numpy_eigen.git
git clone --branch melodic-devel https://github.com/ros-perception/perception_pcl.git
git clone https://github.com/ros/xacro.git
git clone https://github.com/ethz-asl/catkin_boost_python_buildtool.git
git clone https://github.com/LTU-RAI/darpa_subt_worlds.git
git clone https://github.com/LTU-RAI/ufomap.git
git clone https://github.com/LTU-RAI/geometry2.git
git clone https://github.com/aakapatel/mav_control_rw.git

[Recommended] If you want to use LTU-RAI lab version of rotors_simulator, install as follows:

git clone https://github.com/LTU-RAI/rotors_simulator.git && cd rotors_simulator && git pull

Add compiler option c++17 in rotors_gazebo_plugins
```
add_compile_options(-std=c++17)
```

Get the source code and build (NOTE: modify cargo build target path correctly)

git clone https://github.com/LTU-RAI/ExplorationRRT.git
/bin/bash -c 'source $HOME/.cargo/env; cd /home/$USERNAME/catkin_ws/src/ExplorationRRT; python3 rrt_costgen.py'
catkin build errt

Download gazebo models provied in errt (if you want)

cd ExplorationRRT/docker
gdown --id 1TDbXF9He_LXYY57Xo3tOxvEVYH3kPtS8
gdown --id 1y7BDt0tjK9Ml7MlTxUwOTG8ZygO_dpI0
unzip models.zip 
unzip ignition_models.zip

In your .bashrc or .zshrc, add downloaded models directory in GAZEBO_MODEL_PATH

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/<your_ws>/src/ExplorationRRT/docker/ignition_models:~/<your_ws>/src/ExplorationRRT/docker/models

Run Demos

1. NBVP

Unfold to see

Important: Put <plugin name="ros_interface_plugin" filename="librotors_gazebo_ros_interface_plugin.so"/> into Gazebo .world file

Run the demo

roslaunch interface_nbvp_rotors flat_exploration.launch

2. GBP2 - it does not work for me yet

Unfold to see

Run the demo

roslaunch gbplanner rmf_sim.launch
or
roslaunch gbplanner smb_sim.launch

3. GBP1

Unfold to see

Check map_config_file, if it is octomap or voxblox

<arg name="map_config_file" default="$(arg octomap_config_file)"/>
<arg name="map_config_file" default="$(arg voxblox_config_file)"/>

Run the demo

roslaunch gbplanner gbplanner_sim.launch
rosservice call /planner_control_interface/std_srvs/automatic_planning "{}"

4. MBP

Unfold to see

Check map_config_file, if it is octomap or voxblox

<arg name="map_config_file" default="$(arg octomap_config_file)"/>
<arg name="map_config_file" default="$(arg voxblox_config_file)"/>

Run the demo

roslaunch mbplanner mbplanner_m100_sim.launch
rosservice call /planner_control_interface/std_srvs/automatic_planning "{}"

5. AEP (no official demo provided, I added environments)

Unfold to see

Get config files and Gazebo models and build

git clone https://github.com/engcang/exploration-algorithms --recursive
mv exploration-algorithms/aep/ouster_gazebo_plugins ~/catkin_ws/src/
mv exploration-algorithms/aep/gazebo_env ~/catkin_ws/src/
mv exploration-algorithms/aep/rpl_exploraiton ~/catkin_ws/src/aeplanner/

cd ~/catkin_ws
catkin build -DCMAKE_BUILD_TYPE=Release

Set Gazebo paths

cd ~/catkin_ws/src/gazebo_env/gazebo_maps/reconstruction
tar -xf recon3.tar.xz

gedit ~/.bashrc

!Then, edit GAZEBO_PLUGIN_PATH and GAZEBO_MODEL_PATH!

export GAZEBO_PLUGIN_PATH=:/home/$(whoami)/PX4-Autopilot/build/px4_sitl_default/build_gazebo:$GAZEBO_PLUGIN_PATH
export GAZEBO_MODEL_PATH=/home/$(whoami)/catkin_ws/src/gazebo_env/drone_models:/home/$(whoami)/catkin_ws/src/gazebo_env/gazebo_maps/reconstruction:/home/$(whoami)/PX4-Autopilot/Tools/sitl_gazebo/models:$GAZEBO_MODEL_PATH

Run the demo

roslaunch rpl_exploration px4_sitl_gazebo.launch
# choose sensor
roslaunch rpl_exploration rpl_exploration.launch sensor:=lidar
roslaunch rpl_exploration rpl_exploration.launch sensor:=rgbd
# arming & offboarding
rosservice call /mavros/cmd/arming "value: true"
rosservice call /mavros/set_mode "base_mode: 0 custom_mode: 'OFFBOARD'"

6. FUEL

Unfold to see

Run the demo

roslaunch exploration_manager rviz.launch
roslaunch exploration_manager exploration.launch

Start with 2D Nav Goal in Rviz

7. DSVP

Unfold to see

Run the demo

roslaunch vehicle_simulator system_garage.launch
roslaunch dsvp_launch explore_garage.launch

8. TARE

Unfold to see

Run the demo

roslaunch vehicle_simulator system_garage.launch
roslaunch tare_planner explore_garage.launch

Trouble shooting

When

symbol lookup error: tare_planner/or-tools/lib/libortools.so: undefined symbol: _ZN6gflags14FlagRegistererC1IiEEPKcS3_S3_PT_S5_

Check if libortools.so is referring the right libraries

If reffering wrong, delete or rename the wrong libraries temporarily

ldd tare_planner/or-tools/lib/ldd libortool.so

! wrong output
libgflags.so.2.2 => sota_ws/devel/lib/libgflags.so.2.2 (0x00007f036830d000)
libglog.so.0 => sota_ws/devel/lib/libglog.so.0 (0x00007f03680dc000)

! after delete/rename wrong files
sudo ldconfig
ldd tare_planner/or-tools/lib/ldd libortool.so        

! correct output
libgflags.so.2.2 => tare_planner/src/tare_planner/or-tools/lib/./libgflags.so.2.2 (0x00007fe6749e0000)
libglog.so.0 => tare_planner/src/tare_planner/or-tools/lib/./libglog.so.0 (0x00007fe6747a3000)

9. OIPP without Unreal, Gazebo instead (thanks to Dongkyu Lee)

Unfold to see

Get modified files for running without Unreal but Gazebo instead

git clone https://github.com/engcang/exploration-algorithms --recursive
cd exploration-algorithms/oipp
mv active_3d_planning_app_reconstruction ~/catkin_ws/src/mav_active_3d_planning/
mv active_3d_planning_core ~/catkin_ws/src/mav_active_3d_planning/

cd ~/catkin_ws
catkin build -DCMAKE_BUILD_TYPE=Release

Run demo

roslaunch active_3d_planning_app_reconstruction no_unreal_run_experiment.launch
rosservice call /planner/planner_node/toggle_running "data: true"

10. ERRT

Unfold to see

Run demo

roslaunch errt server.launch
roslaunch errt errt.launch
roslaunch rotors_gazebo errt_mav.launch
roslaunch mav_linear_mpc mav_linear_mpc_sim.launch mav_name:=hummingbird
rosservice call /hummingbird/takeoff "{}"

Note: errt_mav.launch only works for LTU-RAI version of rotors_gazebo. Set up your own rotors launch for your custom world file.

Name		Name	Last commit message	Last commit date
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aep		aep
fuel		fuel
nbvp		nbvp
oipp		oipp
rotors_description		rotors_description
rotors_gazebo		rotors_gazebo
.gitmodules		.gitmodules
LICENSE		LICENSE
README.md		README.md

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ChanJoon/exploration-algorithms

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Exploration-algorithms

List

1. Volumetric mapping purpose only

2. Volumetric mapping + Considering pose estimation

3. Volumetric mapping + inspection/coverage path planning

Option1: How to build and run with the ready-to-go docker image

Installation

0. Install docker, get image, and generate container

1. How to run

Option2: How to build and run on your local computer

Installation

0. Common dependencies

1. Install simulator (required)

Note: When having PX4-SITL and RotorS Simulator at the same time

1-1. Install PX4-SITL - for AEP

1-2. Install RotorS Simulator - for NBVP, GBP, MBP, OIPP, ERRT

1-3. Install Autonomous Exploration Development Environment - for DSVP, TARE

2. Install algorithms

Note: When having NBVP, GBP, MBP at the same time

2-1. NBVP

2-2. GBP2

2-3. GBP1

2-4. MBP

2-5. AEP

2-6. FUEL

2-7. DSVP

2-8. TARE

2-9. OIPP - without Unreal, Gazebo instead (thanks to Dongkyu Lee)

2-10. ERRT

Run Demos

1. NBVP

2. GBP2 - it does not work for me yet

3. GBP1

4. MBP

5. AEP (no official demo provided, I added environments)

6. FUEL

7. DSVP

8. TARE

9. OIPP without Unreal, Gazebo instead (thanks to Dongkyu Lee)

10. ERRT

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Option1: How to build and run with the ready-to-go `docker` image

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