Get up and running

The repo contains the catkin package package octomap_launch. To be able to run it you need the octomap stack. You can get it by running sudo apt-get install ros-groovy-octomap-mapping. If you also want to visualize the maps you create you can get the octovis visualizer tool by running sudo apt-get install ros-groovy-octovis.

roslaunch octomap_launch octomap.launch map:=(PATH_TO_MAP)/map.yaml - for running the scitos nav stack package for localization and octomap for map building. You need to have the scitos drivers, including the laser scanner and the state_publisher up and running before doing this.

If you want to view the map while building it using octomap, you can visualize it in rviz by adding a MarkerArray on topic occupied_cells_vis_array.

To save the map created by octomap, just do rosrun octomap_server octomap_saver -f (FILENAME).bt. You can view the map file by just typing octovis (FILENAME).bt in the command line. There is an example 3D map created on the robot in octomap_launch/example_maps/map3d.bt that you can try this out with.