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ROSMOSIS

Robot Operating System — Multiple Object Surface Inspection Survey — a ROS 2 Humble simulation workspace for UUV-based NBV inspection and Bayesian search missions using BT.cpp v4 behavior trees.

The system combines:

  • Dubins-path vehicle simulation with idle drift dynamics
  • Next-Best-View (NBV) inspection of detected targets on a helical viewpoint manifold
  • Bayesian occupancy search to find targets in unexplored space
  • FLS (Forward-Looking Sonar) sensor simulation via ray casting

Repository Structure

src/
├── demo_behaviors/       # BT.cpp v4 nodes, behavior trees, and full mission launch
├── vista_sim/            # Dubins action server, vehicle kinematics, environment launch
├── sensor_model/         # FLS ray-cast sensor publisher and environment configs
├── uuv_interfaces/       # ROS 2 message, service, and action definitions
├── helix_generator/      # Python service: helix-sampled viewpoint generation
├── eca_a9_description/   # URDF/xacro for the ECA A9 UUV model
├── bayesian_search/      # Bayesian occupancy map and search pose server
├── nbv_cpp/              # TSDF + NBV scoring server (submodule)
├── sample_nbv_behaviors/ # NBV behavior tree nodes (submodule, rosmosis branch)
└── nrg_behaviors/        # Utility BT nodes: PublishTransform, RepeatWhile, etc. (submodule)

Prerequisites

Clone the three external submodules into src/:

cd ~/projects/VISTA_ws/src

# NBV behaviors
git clone git@github.com:UTNuclearRobotics/sample_nbv_behaviors.git
cd sample_nbv_behaviors && git checkout rosmosis && cd ..

# NRG utility behaviors
git clone git@github.com:UTNuclearRobotics/nrg_behaviors.git

# NBV TSDF server
git clone git@github.com:UTNuclearRobotics/nbv_cpp.git

Follow each submodule's README for any additional setup.

Build

cd ~/projects/VISTA_ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

-DCMAKE_BUILD_TYPE=Release is required for nbv_cpp — its TSDF integration and ray-cast loops are significantly slower in debug mode. The Python packages (vista_sim, helix_generator, sensor_model) are unaffected.

For a partial build (sim + mission stack only, skipping nbv_cpp):

colcon build --packages-up-to demo_behaviors --symlink-install
source install/setup.bash

Launch

Full mission

ros2 launch demo_behaviors demo_mission_launch.py

Starts: vehicle sim, FLS sensor, NBV server, helix service, Bayesian search server, behavior tree runner, RViz, rqt_console, rqt_graph.

With a specific environment

ros2 launch demo_behaviors demo_mission_launch.py environment:=env_50x50_cluster_seabed
Environment Description
environment_basic Flat seabed, no objects (default)
environment_seabed_basic Procedural rolling seabed
environment_50x50 Flat 50×50m arena, four boxes at corners
env_50x50_centroidBox Flat 50×50m arena, single box offset from centroid
env_50x50_cluster Flat 50×50m arena, three boxes clustered mid-arena + one corner
env_50x50_cluster_seabed Procedural seabed with divot at cluster site, same box layout

Key launch parameters

ros2 launch demo_behaviors demo_mission_launch.py \
    environment:=env_50x50_cluster_seabed \
    drift_velocity:=0.1 \
    constant_velocity:=0.8 \
    log_level:=debug
Parameter Default Description
environment environment_basic Environment yaml from sensor_model/config/
start_rviz true Launch RViz
drift_velocity 0.25 Idle drift speed between goals (m/s)
constant_velocity 0.5 Navigation speed along Dubins paths (m/s)
time_step 0.1 Simulation dt (s)
log_level info ROS log level for all nodes (debug/info/warn/error/fatal)

See all args: ros2 launch demo_behaviors demo_mission_launch.py --show-args

Mission Architecture

Behavior Trees

MainTree — top-level mission loop (4 cycles):

  • DetectAndSortQueue runs continuously in parallel, accumulating detected targets sorted by distance
  • ReactiveFallback switches between two branches each tick:
    • Inspection branch: if queue is non-empty, run NBVOnTarget on the front target
    • Search branch: if queue is empty and within time budget, run BayesianSearch to drive toward high-probability unexplored regions

NBVOnTarget — per-target inspection:

  1. Publish ROI frame at target position
  2. Activate NBV policy, generate helix viewpoints, score with TSDF
  3. Iterate: drive to best view → re-score → repeat until saturation
  4. Conclude policy, mark target complete

BayesianSearch — occupancy-driven exploration:

  • Queries bayesian_search_server for the next high-utility pose
  • Drives there via DubinsClient
  • Sensor observations update the occupancy map, reducing uncertainty

Vehicle Simulation

vehicle_sim_server is the sole publisher of ned→base_link. It:

  • Plans Dubins paths to action goals and follows them with an LOS controller
  • Propagates idle drift between goals at drift_velocity
  • Declares a goal complete when within 1m + 0.3 rad, or when the path is fully consumed and the vehicle is receding from closest approach (miss detection)

Sensor Model

Ray-cast FLS sensor in sensor_model. Publishes:

  • /image_raw + /camera_info — synthetic depth image in sonar_optical frame
  • /detected_boxes — detected object poses with geometry IDs
  • Mesh markers for RViz visualization

Live Monitoring

The BT runner publishes its state on TCP port 1667 via BT::Groot2Publisher:

  1. Download Groot2 AppImage from behaviortree.dev
  2. Monitor → Connect to localhost:1667
  3. Watch nodes light up live as the tree ticks

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