view_motion_planner

Full motion planner for optimizing fruit coverage

Setup

You can use the workspace provided here. Follow the instructions in the readme to clone all required packages, install their dependencies and set up the workspace.

Run view motion planner (example)

Launch simulation:

roslaunch ur_with_cam_gazebo ur_with_cam.launch base:=trolley world_name:=world23

Run view motion planner:

rosrun view_motion_planner planner_node

Launch rviz:

roslaunch ur_with_cam_gazebo rviz.launch

Run rqt:

rqt

Select the ROI Viewpoint Planner plugin: Plugins -> Configuration -> ROI Viewpoint Planner

It should automatically switch to the view motion planner tab.

To run the complete pipeline, change "mode" to "PLAN_WITH_TROLLEY".

Paper

If you use this work in your research, you can cite the following paper:

Graph-based View Motion Planning for Fruit Detection, accepted at IROS 2023

@inproceedings{zaenker2023graph,
	title={Graph-based View Motion Planning for Fruit Detection},
	author={Zaenker, Tobias and R{\"u}ckin, Julius and Menon, Rohit and Popovi{\'c}, Marija and Bennewitz, Maren},
	booktitle={Proc.~of the IEEE/RSJ Intl.~Conf.~on Intelligent Robots and Systems (IROS)},
	year={2023}
}

Related repositories

roi_viewpoint_planner: Our older Next-Best-View planner

capsicum_superellipsoid_detector: Capsicum shape completion, used for evaluation