ROS visualization tool for occupancy maps of SuperRay library

This ROS package provides the examples of visualizing various types of occupancy maps - octree, quadtree, grid3D, grid2D - that SuperRay library supports. The example nodes publish various ROS messages according to the visualization data (see the below table), and we can use a RViz tool to visualize these messages.

Occupancy map	Occupancy	Occupied nodes	Frees nodes
OctoMap	MarkerArray	MarkerArray	MarkerArray
QuadMap	MarkerArray	MarkerArray	MarkerArray
Grid3D	Marker	Marker	Marker
Grid2D	OccupancyGrid	Marker	Marker

BUILD

This package requires to install SuperRay library. For example of installing the library, run:

cd ~/Downloads && git clone https://github.com/PinocchioYS/SuperRay.git
mkdir SuperRay/build && cd SuperRay/build
cmake ..
sudo make install

You can build the visualization through the following commands:

cd ~/catkin_ws/src
git clone https://github.com/PinocchioYS/occupancy_map_visualizer.git
cd ~/catkin_ws && catkin_make

RUN EXAMPLES

You can run some examples as follows, for example, if you want to visualize a quadmap:

roslaunch occupancy_map_visualizer quadmap_visualization.launch

It will visualize the occupancy, occupied and free nodes of the quadmap in RViz. As an option, you can see a map saved in your custom directory like:

roslaunch occupancy_map_visualizer quadmap_visualization.launch filename:=YOUR_DIR/YOUR_FILE.ot2

If you have any problem or issue, notice it at here.