MRS Octomap Tools
This package contains a set of tools for OctoMap manipulation and visualization.
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)
