Octomap mapping & planning
📄️ Planner
Octomap planner
📄️ Server
Octomap Server
3D volumetric mapping based on Octomap + A*-based planning
Dependencies
Packages
- mrs_octomap_mapping_planning - launch files, example tmux session
- mrs_octomap_server - Uses Octomap to build global & local map
- mrs_octomap_planner - 3D planner for UAVs
- mrs_octomap_tools - MRS Tools and libraries for Octomap
- mrs_subt_planning_lib - 3D A*-based planner utilized by mrs_octomap_planner
Example simulation session
Example tmuxinator session is provided in the tmux subfolder.
Main launch file
The launch file
roslaunch mrs_octomap_mapping_planning mapplan.launch
was prepared to utilize 3D LiDAR and depth camera data and to launch
- PointCloud filter (mrs_pcl_tools),
- Octomap Server,
- Octomap Planner,
- Octomap RVIZ Visualizer,
- Nodelet manager.
To use the launch file for your specific usecase, you might need to:
- Specify reference frame of the map in the world_frame_id argument.
- Provide custom configs customizing the behavior of the PCL filters, octomap server, octomap planner, and octomap visualizer.
- Remap ROS topics expected by the launch file to correspond to your sensor configuration.
Example usage of the launch file with custom configs provided:
roslaunch mrs_octomap_mapping_planning mapplan.launch config_octomap_server:="./config/octomap.yaml" world_frame_id:="$UAV_NAME/mapping_origin" config_octomap_visualizer:="./config/octomap_rviz_visualizer.yaml" config_octomap_planner:="./config/pathfinder.yaml" config_pcl_filter_ouster:="./config/pcl_filter_mapping.yaml"