I developed an official ROS 2 Iron package for efficiently exploring spaces in 3D and 2D. It can be installed with:
sudo apt install ros-iron-multidim-rrt-planner
The main program publishes the RRT (Rapidly Exploring Random Tree) nodes and optimal path when called by a ROS service call (/run_rrt), and optionally subscribes to an occupancy grid, obstacle markers, start/goal locations. All mentioned objects are visualized in RViz2. The repositories for the package source code are:
Python: https://github.com/daviddorf2023/multidim_rrt_planner
untitled.mp4