enesdemirag/simpcl

Point Cloud Filtering and Mapping package for ROS

Simple Point Cloud Filtering Package

This package can work properly with all devices which produce point cloud data. (Stereo Cameras, RGB-D Cameras, LiDARs etc.) Point Cloud Library (PCL) and OctoMap used on ROS platform.

Requirements

• Install Ubuntu 16.04

  • Follow these steps to install Ubuntu 16.04 operating system

• Install ROS Kinetic

  • Check out the official website

• Install Point Cloud Library

  • Download the stable release from here and follow these instructions

• Install OctoMap

  $ sudo apt-get install build-essential cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
  $ sudo apt-get install ros-kinetic-octomap ros-kinetic-octomap-mapping
  $ rosdep install octomap_mapping
  $ rosmake octomap_mapping
  

  There should be octomap_mapping.launch file under /opt/ros/kinetic/share/octomap_server/launch now

Installation

• Get this repository as a catkin workspace

  $ git clone https://github.com/enesdemirag/simpcl.git catkin_ws
  

• Build package

  $ cd catkin_ws
  $ catkin build
  

• Or move src/simpcl/ package under your workspace.

• Source catkin workspace

  $ source devel/setup.bash
  

• Launch files are under the src/simpcl/launch directory. Parameters can easily be changed without the need to recompile.

Usage

$ roslaunch simpcl mapping.launch

Author

• Enes Demirağ ensdmrg@gmail.com - LinkedIn Website

License

This project is licensed under the MIT License - see the LICENSE file for details.

Contributing

Interested in contributing to my repo? Fork, and open a pull request. I'll try to merge as soon as possible. If you found any mistake or you have advice, feel free to open an issue.

More

You can reach work in progress and all filters including unstable ones from here.