How do I switch from Voxblox to Octomap in mbplanner_ros?

Recompile with the -DUSE_OCTOMAP=1 flag and update the map_config_file in the launch file to use octomap_config_file, as detailed in the README's configuration steps.

Can mbplanner_ros be used with real drones or is it simulation-only?

While focused on Gazebo simulations, it can be adapted for real drones by integrating with ROS-compatible hardware drivers, but the README provides no out-of-the-box support, requiring custom integration efforts.

What's the difference between TSDF and ESDF in this planner?

TSDF truncates distances to occupied voxels for efficiency, while ESDF provides full Euclidean distances; switching requires code changes and affects mapping accuracy and computational load, as noted in the README.

How does mbplanner_ros compare to move_base for aerial robots?

move_base is designed for 2D ground navigation, whereas mbplanner_ros specializes in 3D aerial exploration with motion primitives, making it better for agile, complex environments but less suitable for simple tasks.

How to customize motion primitives for different drone dynamics?

The README doesn't cover customization; it likely requires modifying source code in the planner_common package, indicating advanced usage and limited user-friendly configuration options.

What are the system requirements for running mbplanner_ros in real-time?

Not specified in the README, but given the real-time motion planning and mapping demands, a capable multi-core CPU and sufficient RAM are recommended, with performance varying by environment complexity.

mb planner

BSD-3-ClauseC++

A ROS-based motion-primitives planner for fast and agile autonomous exploration with aerial robots.

GitHub

What is mb planner?

mbplanner_ros is a ROS-based motion-primitives planner for aerial robots, designed to enable fast and agile autonomous exploration in complex environments like caves and mines. It generates dynamically feasible trajectories using pre-computed motion primitives and integrates with mapping frameworks like Voxblox and Octomap for real-time environment representation.

Target Audience

Robotics researchers and developers working on autonomous aerial exploration, particularly those focused on subterranean environments, drone path planning, or ROS-based robotic systems.

Value Proposition

It offers a specialized solution for agile exploration with support for multiple mapping backends, simulation environments, and ROS integration, making it suitable for research and development in challenging GPS-denied scenarios.

Overview

Motion-primitives Based Planner for Fast & Agile Exploration

Use Cases

Best For

Autonomous exploration of subterranean environments like caves and mines

Related Projects

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Research on motion-primitives based path planning for aerial robots

Simulating drone exploration in Gazebo with ROS integration

Developing agile trajectory planning for drones in 3D spaces

Comparing Voxblox vs Octomap for robotic mapping in exploration tasks

Testing algorithms for DARPA Subterranean Challenge-like scenarios

Not Ideal For

Projects not using ROS or requiring standalone path planning libraries
Simple drone navigation in open, GPS-enabled environments where lightweight planners suffice
Teams without motion planning or aerial robotics expertise due to intricate setup and code modifications
Applications demanding out-of-the-box compatibility with commercial drone platforms without custom integration

Pros & Cons

Pros

Agile Motion Planning

Leverages pre-computed motion primitives to generate dynamically feasible trajectories, enabling fast and agile exploration in complex 3D spaces like caves and mines.

Flexible Mapping Support

Integrates with both Voxblox (TSDF/ESDF) and Octomap, allowing users to choose the mapping framework based on environment needs, as shown in the configurable launch files.

Comprehensive Simulation

Includes Gazebo simulations with DARPA Subterranean Challenge cave environments, facilitating testing without physical hardware and supporting realistic scenario development.

ROS Integration

Fully integrated with ROS, launchable via launch files and controllable through services, streamlining deployment and interaction in ROS-based robotic systems.

Cons

Complex Installation

Requires cloning and building the separate mbplanner_ws repository, with additional steps for dependency management, making initial setup time-consuming and error-prone.

Manual Code Modifications

Switching between mapping frameworks or modes (e.g., TSDF to ESDF) involves editing header and launch files directly, lacking automated tools and increasing configuration complexity.

Sparse Documentation

The tutorial is hosted externally and may be brief, relying on users to infer details from the README, which lacks comprehensive guides for customization or troubleshooting.

Frequently Asked Questions

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