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octomap_mapping: octomap | octomap_ros | octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. See octomap_saver on how to request or save a map file. A visualization of the occupied cells is sent as MarkerArray.

octomap_mapping: octomap | octomap_ros | octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. See octomap_saver on how to request or save a map file. A visualization of the occupied cells is sent as MarkerArray.

octomap_mapping: octomap | octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. See octomap_saver on how to request or save a map file. A visualization of the occupied cells is sent as MarkerArray.

octomap_mapping: octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. See octomap_saver on how to request or save a map file. A visualization of the occupied cells is sent as MarkerArray.

octomap_mapping: octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver.

octomap_mapping: octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver.

octomap_mapping: octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver.

octomap_mapping: octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver.

octomap_mapping: octomap_server

Package Summary

octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver.

Overview

General information about OctoMap is available at http://octomap.github.com and in the publication "OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees" by A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard (Autonomous Robots Journal, 2013).

BibTeX:

@ARTICLE{hornung13auro,
  author = {Armin Hornung and Kai M. Wurm and Maren Bennewitz and Cyrill
  Stachniss and Wolfram Burgard},
  title = {{OctoMap}: An Efficient Probabilistic {3D} Mapping Framework Based
  on Octrees},
  journal = {Autonomous Robots},
  year = 2013,
  url = {http://octomap.github.com},
  doi = {10.1007/s10514-012-9321-0},
  note = {Software available at \url{http://octomap.github.com}}
}

Please cite our paper if you use OctoMap in your research.

ROS Node API

dynamic_reconfigure API

octomap_server and octomap_server_multilayer offer a dynamic_reconfigure interface to change the displayed map resolution on the fly (since version 0.3.8). Note that this will not change the resolution of the underlying OctoMap, but only of the published marker / collision topics (e.g. for visualization).

octomap_server

octomap_server builds and distributes volumetric 3D occupancy maps as OctoMap binary stream and in various ROS-compatible formats e.g. for obstacle avoidance or visualization. The map can be a static OctoMap .bt file (as command line argument) or can be incrementally built from incoming range data (as PointCloud2). octomap_server starts with an empty map if no command line argument is given. In general, octomap_server creates and publishes only on topics that are subscribed. Since some can be time-consuming to build for large maps, only subscribe to topics you absolutely need (e.g. in RViz) and set the "latch" parameter for false when building maps.

Subscribed Topics

cloud_in (sensor_msgs/PointCloud2)

Published Topics

octomap_binary (octomap_msgs/Octomap) octomap_full (octomap_msgs/Octomap) occupied_cells_vis_array (visualization_msgs/MarkerArray) octomap_point_cloud_centers (sensor_msgs/PointCloud2) octomap_collision_object (arm_navigation_msgs/CollisionObject) collision_map_out (arm_navigation_msgs/CollisionMap) map (up to fuerte) / projected_map (since fuerte) (nav_msgs/OccupancyGrid)

Services

octomap_binary (octomap_msgs/GetOctomap) ~clear_bbx (octomap_msgs/BoundingBoxQuery) ~reset (std_srvs/Empty)

Parameters

~frame_id (string, default: /map) ~resolution (float, default: 0.05) ~base_frame_id (string, default: base_footprint) ~height_map (bool, default: true) ~color/[r/g/b/a] (float) ~sensor_model/max_range (float, default: -1 (unlimited)) ~sensor_model/[hit|miss] (float, default: 0.7 / 0.4) ~sensor_model/[min|max] (float, default: 0.12 / 0.97) ~latch (bool, default: True for a static map, false if no initial map is given) ~filter_ground (bool, default: false) ~ground_filter/distance (float, default: 0.04) ~ground_filter/angle (float, default: 0.15) ~ground_filter/plane_distance (float, default: 0.07) ~pointcloud_[min|max]_z (float, default: -/+ infinity) ~occupancy_[min|max]_z (float, default: -/+ infinity)

Required tf Transforms

sensor data frame/map (static world frame, changeable with parameter frame_id)

octomap_server_multilayer

An extension of octomap_server to publish multilayer projected 2D maps, used by the 3d_navigation stack. Subscriptions and publications are mostly identical to the octomap_server node.

octomap_saver

A small command line tool to request octomap files from an octomap_server, similar to map_server#map_saver. Just run "octomap_saver mapfile.bt" to request a compressed binary octomap via service call and save it to mapfile.bt. Run "octomap_saver -f mapfile.ot" to request a full probability octomap instead (Requires version 0.5 or later).

Report a Bug

Use the alufr-ros-pkg issue tracker to report bugs or request features. For questions (and FAQ), check answers.ros.org.


2019-10-12 12:53