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.