or_octomap

or_octomap is a collision checker and sensor system plugin for OpenRAVE, intended to allow OpenRAVE meshes to be collision checked against octrees.

Two plugins are created:

or_octomap : A sensor system. When the "Enable" command is called, an OctomapServer is created which takes in new data from a point cloud. OpenRAVE objects can be filtered out of the octomap.

or_octomap_checker: A collision checker. When or_octomap is created and enabled, or_octomap_checker is set as the collision checker. When this is done, all collision checks get tested against the octomap before they are tested against other OpenRAVE kinbodies.

Dependencies

sudo apt-get update
sudo apt-get install ros-kinetic-octomap ros-kinetic-octomap-msgs ros-kinetic-octomap-rviz-plugins ros-kinetic-octomap-mapping ros-kinetic-octomap-ros ros-kinetic-octomap-server

Note:

When the octomap is created, there is some annoying info Writing 181520 nodes to output stream... keep publishing, which could not be stopped from the command or code. The most efficient way to stop it is to add the following line #define NDEBUG to the file /opt/ros/kinetic/include/octomap/octomap_types.h, which would look like:

#define NDEBUG 
// no debug output if not in debug mode:
#ifdef NDEBUG
  #ifndef OCTOMAP_NODEBUGOUT
    #define OCTOMAP_NODEBUGOUT
  #endif
#endif