oaisys_active_planning

This repository includes a package which enables demonstrations of using the photorealistic terrain simulator OAISYS interactively. The interactive mode support for oaisys is added in DLR-RM/oaisys#11

This project includes two demonstrations:

• Mapping: Reconstruction of demonstration with Voxblox with predefined viewpoints
• Active Exploration: Using ethz-asl/mav_active_3d_planning to demonstrate active viewpoint planning

Build

The project can be built using the following command.

catkin build oaisys_client

Running The project

There are two demonstrations

roslaunch oaisys_client test_mapping

roslaunch oaisys_client test_planning

Additional Information

This work has been presented presented as a workshop paper at ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment. [workshop.][paper]

@inproceedings{muller2022interactive,
  title={Interactive OAISYS: A photorealistic terrain simulation for robotics research},
  author={M{\"u}ller, Marcus Gerhard and Lim, Jaeyoung and Schmid, Lukas and Blum, Hermann and St{\"u}rzl, Wolfgang and Gawel, Abel and Siegwart, Roland and Triebel, Rudolph},
  booktitle={ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment},
  year={2022}
}