easondrone_mapping

A ROS package for mapping via octomap.

Installation

cd ~/EasonDrone
catkin_make --source Reconstruction/easondrone_mapping --build Reconstruction/easondrone_mapping/build

转发点云

EGO-Planner等规划器要求点云发布在world坐标系下，因此需要将原本发布在lidar_frame的点云转发到world下

rosrun easondrone_mapping pub_pcl_world.py

建立地图

roslaunch easondrone_mapping simulation.launch

保存地图

You are trying to invoke octomap_saver as an argument to the octomap_server node. However, octomap_saver is a node of its own, so you only have to start it from a separate terminal while octomap_server is running. Check the documentation at http://wiki.ros.org/octomap_server#octomap_saver

控制无人机完成建图后，用以下指令保存.ot（或者.bt，相较于.ot体积更小）格式的地图文件

rosrun octomap_server octomap_saver -f ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.ot

参考：

• https://octomap.github.io/octomap/doc
• ⭐️ https://wiki.ros.org/octomap
• ⭐️ https://github.com/OctoMap/octomap_mapping/blob/kinetic-devel/octomap_server/src/OctomapServer.cpp
• ⭐️ https://groups.google.com/g/octomap/c/ZyfNzcuGlY0?pli=1

查看地图

方法1：octovis

也可以借助octovis工具查看

octovis ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.bt

方法2：rviz

一种方法是在rviz中查看

rosrun rviz rviz
rosrun octomap_server octomap_server_node ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.bt

添加OccupancyGrid，话题选择/octomap_binary，

参考：

• 在ROS中将点云（PointCloud2）生成Octomap，rviz可视化显示
• ⭐️ octomap in rviz and occupancy grids in 3D maps

加载地图

参考：

• ⭐ how to use octomap_server?
• ⭐ OctoMap/octomap_mapping

Acknowledgement

Thanks for following packages:

• global_planning