Octomap Mapping & Planning

Metapackage containing MRS Octomap-based 3D mapper and planner.

⚠️ Attention please: This README is outdated.

The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

Dependencies

• mrs_uav_core
• mrs_uav_modules

Packages

• mrs_octomap_mapping_planning - launch files, example tmux session
• mrs_octomap_server - Uses Octomap to build global & local map
• mrs_octomap_planner - 3D planner for UAVs
• mrs_octomap_tools - MRS Tools and libraries for Octomap

Example session

Example tmuxinator session is provided in the tmux subfolder.

Main launch file

The launch file

./ros_packages/octomap_mapping_planning/launch/mapplan.launch

was prepared to launch

• PointCloud filter (mrs_pcl_tools),
• Octomap Server,
• Octomap Planner,
• Octomap RVIZ Visualizer,
• Nodelet manager.

Please, use provided arguments and custom config files to customize the behaviour of the nodes.