Please don't merge this, just for reference for those wishing to switch NBVP from octomap to voxblox.
This is a very simple wrapper that just mimics the interface to octomap to voxblox. It was made to have the behavior as close as possible.
As such:
It only uses TSDFs, not ESDFs for collision checking. Using ESDFs would require pre-computing the ESDF with an ESDF server, and using spheres as the collision checking model. However, it would be significantly faster.
The bounding box line check is done very naively (read: slowly), repeating a lot of the operations. This could be re-done easily in a more intelligent way.
The way it's currently set up, the nbvp planner both does the planning and builds the map (before octomap, now voxblox map). This is not recommended. The recommended set-up is to have a separate node building the map and passing it to the planners, as in the mav_voxblox_planning gazebo examples (here)
This is by no means a great implementation, just a sample to get people started. :) Please see mav_voxblox_planning for many more planning examples.
Please don't merge this, just for reference for those wishing to switch NBVP from octomap to voxblox.
This is a very simple wrapper that just mimics the interface to octomap to voxblox. It was made to have the behavior as close as possible. As such:
This is by no means a great implementation, just a sample to get people started. :) Please see mav_voxblox_planning for many more planning examples.