I am looking for tips.
I have a robot that moves in the 3D world within a 3D environment (you can think of something like a drone).
Therefore, the classic move_base package and 2D navigation are not suitable for my use case.
I want the robot to navigate the 3D world and avoid obstacles.
To that end, it would be ideal for me not to run mapping beforehand. Thus, I was looking if a simple way to generate a 3D map of the environment to be used as navigation map exists in omniverse. I do not care about mapping, just going from A to B in the 3D world.
If exporting an octomap/3D occupancy is not possible, what would you suggest?
I know about MoveIt, but that requires a planning scene. Eventually, is it possible to load the environment as planning scene in the moveit interface? In that way I can place the end location and execute the goal.