MLCPP: Multi-layer coverage path planner for autonomous structural inspection of high-rise structures

• The purpose of the algorithm is to inspect high-rise building with UAV or 3D reconstruction.
• DOI: 10.1109/IROS.2018.8593537
• If you use or refer this repository, please cite the paper below:

Jung, S., Song, S., Youn, P. and Myung, H., 2018, October. Multi-layer coverage path planner for autonomous structural inspection of high-rise structures. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1-9). IEEE.

Left: Target and path. Right: full visualization

How to install

cd ~/<your_workspace>/src
git clone https://github.com/sungwook87/mlcpp
cd ..
catkin build

How to run

• Edit some parameters in main.launch file

roslaunch mlcpp main.launch
rostopic pub /calculate_cpp std_msgs/Empty

• Warning message Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
  • Just ignore it. It will disappear after rostopic pub /calculate_cpp std_msgs/Empty