Real time path planning

[fmukwege]

Hello MRS-Team,

I would like to know if you had experience in vision-based path planning. Our current idea is to enable our drone to plan path from 3D maps created by Octomap thanks to pointcloud data from an onboard stereo camera (Stereolabs ZED / Intel Realsense).
Our initial idea was to use MoveIt! but it seems real-time planning with moveIt! is not a thing yet. The only related work that I found where real time planning with moveit was achieved is pretty recent : https://picknik.ai/control/realtime/moveit/2020/05/18/jogarm-realtime-cartesian-motion-with-moveit.html

After reading that most of real time planning solution are usually coded for specific applications, my other plan is also to base myself on this paper you guys have cited for the mrs_uav_trajectory_generation package : https://github.com/ethz-asl/mav_trajectory_generation. In this one, the octomap was generated first during a manual flight then the path was planned onboard and in real-time.

I wonder if this could be possible inside the mrs framework using the mrs_uav_trajectory_generation.

Also if maybe you have at CTU some experiences with MoveIt! inside the MRS framework, would you mind sharing some tips with me :) ?

Best regards,

Frank

[klaxalk]

Hey, sorry for the late answer. If this is still relevant, I would suggest using (or getting inspired by) our new packages for 3D mapping and planning: https://github.com/ctu-mrs/octomap_mapping_planning. The planner outputs a path, that is then processed by the Trajectory Generation package.

Let me know if you need any more information.

[matemat13]

closing due to inactivity