Octomap Mapping & Planning
Metapackage containing MRS Octomap-based 3D mapper and planner.
| Build status |  |
|---|
Dependencies
Packages
- octomap_mapping_planning - launch files, example tmux session
- mrs_octomap_server - Uses Octomap to build global & local map
- mrs_octomap_planner - 3D planner for UAVs
- octomap - Custom fork of the original Octomap
- octomap_tools - MRS Tools and libraries for Octomap
- octomap_ros
- octomap_rviz_plugins
- octomap_msgs
Example session
Example tmuxinator session is provided in tmux/example/.
Main launch file
The launch file
./ros_packages/octomap_mapping_planning/launch/mapplan.launch
was prepared to launch
- PointCloud filter (mrs_pcl_tools),
- Octomap server,
- Octomap Planner,
- Octomap RVIZ visualizer,
- Nodelet manager.
Please, use provided arguments and custom config files to customize the behaviour of the nodes.