Global Optimization for View Motion Planning(GO-VMP)

Usage

Clone the repository with submodules:

git clone --recursive https://github.com/AllenIsaacJose/GO-VMP.git

1. Native Build

Install prerequisites

• Ubuntu 20.04 LTS (Focal Fossa)
• ros-noetic-desktop-full
• Open3D v0.17

Run the setup script to configure the workspace:

cd GO-VMP
./setup_workspace.sh

Build the workspace:

catkin build

Source the workspace:

source devel_release/setup.bash

2. Setup with Docker and VS Code

Install Docker, VS Code, and the Dev Containers extension in VS Code. The repository contains a Dockerfile and devcontainer.json in the .devcontainer folder. When opening the folder with VS Code, it should ask you whether you want to reopen the folder in a container. If not, you can press F1 and search for "Dev Containers: Rebuild and Reopen in Container". After the container is open, run "docker_setup_workspace.sh" to initialize and build the workspaces. Subsequently, you can simply run "catkin build". Run "source devel_release/setup.bash" to source the workspace.

Setting up Gurobi Solver

Follow the link to install the Gurobi solver version 11.0.1 on Linux systems.

The Gurobi version used can be adjusted in view_motion_planner/CMakeLists.txt

set(GUROBI_HOME "/opt/gurobi1101/linux64")

target_link_libraries(planner_node ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${YAMLCPP_LIBRARIES} ${PCL_LIBRARIES} ${OMPL_LIBRARIES} tbb gurobi_c++ gurobi110)
target_link_libraries(plan_on_map ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${YAMLCPP_LIBRARIES} ${PCL_LIBRARIES} ${OMPL_LIBRARIES} tbb gurobi_c++ gurobi110)

Run view motion planner (example)

Launch simulation:

roslaunch ur_with_cam_gazebo ur_with_cam.launch base:=trolley world_name:=world23

Run view motion planner:

rosrun view_motion_planner planner_node

Launch rviz:

roslaunch ur_with_cam_gazebo rviz.launch

Run rqt:

rqt

Select the ROI Viewpoint Planner plugin: Plugins -> Configuration -> ROI Viewpoint Planner

It should automatically switch to the view motion planner tab.

To run the complete pipeline, change "mode" to "PLAN_WITH_TROLLEY".