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:

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.

This package has been tested on Ubuntu 20.04 and ROS Noetic

• 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

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

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.

Our work builds upon ideas already presented in the literature:

• AEPlanner [IEEE | GitHub]
• RH-NBVP [IEEE | GitHub]
• mav_active_3D_planning [IEEE | GitHub]

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