OctoMap Server2

Implementation of octomap for ROS2.0

Port of the ROS1 octomap server for ROS2.0

# Install octomap
git clone https://github.com/OctoMap/octomap.git
cd octomap
mkdir build && cd build
cmake ..
make

# Set the built libraries in default path
cd /usr/lib/x86_64-linux-gnu/
mkdir octomap
sudo cp /PATH/TO/OCTOMAP/octomap/lib/cmake/octomap/* /usr/lib/x86_64-linux-gnu/octomap/.
sudo cp /PATH/TO/OCTOMAP/octomap/lib/liboctoma* /usr/lib/x86_64-linux-gnu/.

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# Build raisin
mv src/octomap_* ../etc/.
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# Build octomap
sudo mv /usr/local/include/eigen3 ~/yunho/etc/.  # remove eigen3.4.0 which crashes with eigen 3.3.7 when building octomap
mv ../etc/octomap_* src/.
colcon build --packages-select octomap_msgs octomap_server2 --cmake-args -DCMAKE_BUILD_TYPE=Release
sudo mv ~/yunho/etc/eigen3/ /usr/local/include/.  # move back eigen3.4.0 to where it was

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# Run octomap
rs-enumerate-devices -s  # Check whether all three cameras are connected. If not, plug the disconnected camera in a different usb port.

ros2 launch raisin_sensor_ros head_launch.py  # Launch depth cameras
ros2 launch raisin_sensor_ros t265_launch.py  # Launch pose estimation
ros2 launch octomap_server2 octomap_server_launch.py  # Launch octomapping
ros2 launch raisin_sensor_ros rviz_launch.py  # Launch rviz visualization (remote PC) (Not recommended because the mapping process will be slower. Recommend to visualize offline using rosbag.)

ros2 topic hz /raibo_head_pcl2
ros2 topic hz /camera/odom/sample
ros2 topic hz /occupied_cells_vis_array  # 5 ~ 20 in 0.05m resolution

Installation

Firstly make sure you have octomap installed on your system

Next, clone this ros package to the appropriate ros2 workspace

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

Clone the dependency repositories to the workspace

# will clone octomap_msgs to the workspace
$ vcs import . < deps.repos

Building

Use colcon to build the workspace

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

Running

Launch the node with appropriate input on topic cloud_in

$ ros2 launch octomap_server2 octomap_server_launch.py