Floor Octomap

This package flattens the Octomap of the floor.

Briefly, the following is happening. A visual SLAM (either Dense Visual Odometry and SLAM (dvo_slam) or ORB-SLAM2 runs to localize. Using the pose information and a pointcloud, the Octomapping Server reconstructs an octomap based on the realworld. As this octomap is noisy, this package tries to remove the noise based on the reconstructed octomap and re-publishes it.

Installation

We use following non standard ROS-Kinetic packages

sudo apt-get install 
    ros-kinetic-octomap 
    ros-kinetic-octomap-mapping
    ros-kinetic-catkin-virtualenv 

We recommend to place all packages in the same workspace such as

$ mkdir -p ~/floor_octomap_ws/src
$ cd ~/floor_octomap_ws/src/
$ catkin_init_workspace

We assume that intel-realsense-ROS package is already installed and avaivable in the workspace.

Installing DVO SLAM

We kindly refer to our other fork of this projcet located at: https://github.com/SuperN1ck/dvo_slam/tree/kinetic-devel

Clone the package into the src/-directory of the workspace.

$ git clone https://github.com/SuperN1ck/dvo_slam.git
$ cd dvo_slam
$ git checkout kinetic-devel # Not necessary if already on kinetic branch
$ cd ../..
$ catkin_make -j8 -DCMAKE_BUILD_TYPE=Release

If g2o is not installed please look at the readme in https://github.com/SuperN1ck/dvo_slam/tree/kinetic-devel

Installing Floor Octomap

Similarly floor_octomap can be installed

# in 'src/'
$ git clone https://github.com/jyp0802/floor_octomap.git
$ cd ..
$ catkin_make --pkg floor_octomap

Installing ORB SLAM2 (Doesn't work for now. Use DVO SLAM instead)

We use a modified ROS package version of ORB_SLAM2 which can be found

# in '/src'
$ git clone https://github.com/jyp0802/singlecamera_orbslam2.git
$ cd ..
$ catkin_make --pkg singlecamera_orbslam2

Compiling together

Of course it is also possible to drop the --pkg-parameter in order to compile both packages at the same time. It is important though that you make sure to build dvo_slam in Release-Mode as otherwise it is really slow.

Source the workspace

$ source devel/setup.bash

Running

Once your camera is running you can use our launch-file

$ roslaunch floor_octomap modify_octomap_dvo.launch # to use with dvo_slam
OR
$ roslaunch floor_octomap modify_octomap_orb.launch # to use with orb_slam 

If using with bagfile

$ roslaunch floor_octomap modify_octomap_dvo.launch bagfile:=PATH_TO_BAGFILE 
OR
$ roslaunch floor_octomap modify_octomap_orb.launch bagfile:=PATH_TO_BAGFILE 

Modifications

Changes must be made in the launch file and the flatten.yaml file.

launch file

• set the pointcloud to use for octomapping
• set the quaternion of TF: Initial Camera Position and TF: Initial Camera Angle
• if you want to use pointcloud generated from the depth image, set the depth image on the Depth Image to Pointcloud
• if you want to filter the depth image, set the depth image on the Depth Image Filter
• code_backup.launch (not for running) has brief descriptions of each node/file that is run.

flatten.yaml file

• camera_robot_height: height of the camera from the ground
• box_XXX: dimensions for the bounding_box where the octomap will be modified
  • (computation will be slow if set to big)
• you do not need to change the rest