/mrs_octomap_tools

Tools for OctoMap visualization and manipulation.

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

MRS Octomap Tools

This package contains a set of tools for OctoMap manipulation and visualization.

⚠️ Attention please: This README is outdated.

The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

OctomapMethods

A library with useful methods for manipulation and post-processing of OctoMap.

OctomapSaver

A minimalistic node for saving an octomap from ROS topic.

OctomapRvizVisualier

A publisher of RVIZ markers for OctoMap visualization. It has some additional features over the original Octomap RVIZ plugin, e.g.:

  • the option to filter the octomap,
  • the option to remove ceiling from the octomap,
  • throttled publishers for saving of power,
  • power saving mode, when nobody subscribes to the markers.

OctomapEditor

An editor for OctoMap. The editor uses RQT Reconfigure as a GUI tool and OctomapRvizVisualizer for real-time preview. The editor provides adjustable bounding box to specify the region for operations.

Supported operations:

  • setting/unsetting free/occupied/unknown space within the bounding box or outside of the bounding box
  • changing of resolution of the octomap
  • creating free space above the ground level
  • dilation and erosion
  • expanding and pruning the tree and the bounding box region (mainly for testing)
  • undo (until your memory runs out)

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