Required Simulation Packages
- AirSim
- MoveIt
- PoinTr
Start AirSim in Unreal Engine environment
Run AirSim ROS Wrapper in 1st terminal
roslaunch airsim_ros_pkgs airsim_node.launch
Run depth image segmentation in 2nd terminal
rosrun airsim_moveit_navigation depth_segmentation
Run depth to pointcloud in 3rd terminal
roslaunch depth_image_proc point_cloud_xyz_radial.launch
Run PoinTr to AirSim TF in 4th terminal
rosrun tf2_ros static_transform_publisher 0 0 0 0.7071068 0 0 -0.7071068 world_ned pointr
Launch MoveIt configuration in 5th terminal
roslaunch airsim_moveit_config gatsbi.launch
Run AirSim + MoveIt Client in 6th terminal
rosrun airsim_moveit_navigation airsim_navigator
Run Pred-NBV Reconstruction Pipeline in 7th terminal
rosrun airsim_moveit_navigation pointr_reconstruction.py