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Online Next-Best-View planner for 3D exploration and inspection with a mobile robot

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fkie/fkie-nbv-planner

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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:

Screencast of NBV planner in action

Citation

If you use this work for scientific purposes, please consider to reference the following article:

@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:

    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

    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:

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:

Authors

  • Menaka Naazare (E-Mail)
  • Francisco Garcia Rosas (Email)