- sudo apt-get install ros-noetic-octomap*
- git clone https://github.com/OctoMap/octomap_mapping.git and catkin_make
- sudo apt-get install ros-noetic-map-server
- cd catkin_ws/src
- git clone https://gaoyichao.com:61698/third/localoctomap_server.git
- cd ..
- catkin_make
save the obstacle pointclouds surrounding the robot with local octomap
-
ClearOctomap
Description: clear the Octree, the pointcloud and the gridmap
req: cmd (bool, true)
res: None -
SaveGridmap
Description: save the gridmap to specified path
req: map_savepath(std::string, "/home/yourusername/map/")
Description: the last path represents the girdmap name ,which is a directory res: state(bool, "true")
Description: true if saved map success
-
pointcloud (std::string, default: "/pointcloud")
Description: topic name of the input pointcloud -
base_frame (std::string, default: "/map")
Description: topic name of the fix frame -
leaf_size (double, default: "0.05")
Description: leaf size of the octomap tree -
max_range (double, default: "3.0")
Description: max distance between the camera and the target points -
max_rayRange (double, default: "3.0")
Description: max distance for the KeyRay -
publish_gridmap (bool, default: "true")
Description: whether process gridmap -
loadmap_path (std::string, default: "map.yaml")
Description: work when publish_gridmap is true, not load if value equals "" -
incremental_update (bool, default: "true")
Description: work when publish_gridmap is true, whether update the gridmap incrementally