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New Features coming with 3DMR

This is a list of new features we added with respect to our previous framework 3dpatrolling:

  • An implementation of our new exploration method.
  • Support under Ubuntu 20 and ROS noetic. We originally developed many parts under Ubuntu 18.04 and then we ported the framework under Ubuntu 20.04.
  • Support for gazebo with jackal robots equipped with Ouster/Velodyne LIDARs, IMUs and cameras.
  • Support for pioneer 3-DX robots equipped with RGBD cameras under V-REP.
  • Integrated TEB local planner with 3D navigation: we use as input the waypoints computed by the path planner and get dynamic obstacle descriptions from the laser proximity checker.
  • Integrated voxblox as an alternative mapping system to octomap
  • Improved packages (e.g. path_planner and trajectory_control), parameter management and launch scripts.
  • Added new PyQt GUIs to support different robots.
  • Integrated robot-centric elavation mapping.
  • Included an nbvplanner version working under Ubuntu 20 and ROS noetic.

Some of the new features are still experimental. You can contribute to the code base by pull requests, reporting bugs, leaving comments, and proposing new features through issues. Feel free to get in touch at luigifreda(at)gmail(dot)com. Thank you!