https://github.com/iKrishneel/octomap_server2

ROS2 stack for mapping with OctoMap, contains octomap_server package
https://github.com/iKrishneel/octomap_server2

octomap point-cloud ros2

Last synced: 3 months ago
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ROS2 stack for mapping with OctoMap, contains octomap_server package

• Host: GitHub
• URL: https://github.com/iKrishneel/octomap_server2
• Owner: iKrishneel
• Created: 2020-06-15T10:01:44.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2023-10-27T07:42:45.000Z (about 1 year ago)
• Last Synced: 2024-04-27T04:32:58.020Z (6 months ago)
• Topics: octomap, point-cloud, ros2
• Language: C++
• Homepage:
• Size: 35.2 KB
• Stars: 63
• Watchers: 4
• Forks: 28
• Open Issues: 6
• Metadata Files:
  • Readme: README.md

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README

        


  
OctoMap Server2

  
Implementation of octomap for ROS2.0 

    



Port of the ROS1 [octomap server](https://github.com/OctoMap/octomap_mapping) for ROS2.0 

#### Installation

Firstly make sure you have [octomap](https://github.com/OctoMap/octomap.git) installed on your system 

Next, clone this ros package to the appropriate ros2 workspace

```bash

$ git clone https://github.com/iKrishneel/octomap_server2.git

```

Clone the dependency repositories to the workspace

```bash

# will clone octomap_msgs to the workspace

$ vcs import . < deps.repos

```

#### Building

Use colcon to build the workspace

```bash

$ colcon build --symlink-install --packages-select octomap_msgs octomap_server2

```

#### Running

Launch the node with appropriate input on topic `cloud_in`

```bash

$ ros2 launch octomap_server2 octomap_server_launch.py

```