This page is describing the upcomming ROS2 version of the MRS UAV System (however, it may be still outdated). If you are looking for ROS1 version of the docs, follow to https://ctu-mrs.github.io/docs/1.5.0/introduction/.
Octomap server
3D occupancy mapping based on Octomap. The sensor data are inserted into a local map centered at the current position of the robot. The local maps are periodically copied into a global map. The map can incorporate pointclouds from 3D LiDARs and depth cameras.
Usage​
See octomap_mapping_planning launch file for setting of relevant topics, passing a custom config to the octomap server and setting its parameters.
Sensor topics​
Topic names are set as arguments to the launch file.
| Topic name | Type | Meaning |
|---|---|---|
| lidar_3d_topic_NUM_in | sensor_msgs/PointCloud2 | 3D LiDAR pointcloud |
| lidar_3d_topic_NUM_over_max_range_in | sensor_msgs/PointCloud2 | points over max range (will be used for free-space raycasting only |
| depth_camera_topic_NUM_in | sensor_msgs/PointCloud2 | depth camera pointcloud |
| depth_camera_topic_NUM_over_max_range_in | sensor_msgs/PointCloud2 | depth camera points over max range (will be used for free-space raycasting only |
| camera_info_topic_NUM_in | sensor_msgs/CameraInfo | depth camera info (used for calculating free-space raycasting parameters) |
Configuration​
The frame of reference, where the map is built, is set by argument world_frame_id of the launch file. Default configuration parameters are available at the config file. They can be overriden by passing a custom config file to the main launch file.