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.

rwbot/simpcl