I was looking for a way to create an octomap tree from arbitrary mesh file. Well at first I tried to convert my data into PCL pointcloud and then convert them into an octomap tree. But the problem was, for instance when you a cuboid mesh, you only have 8 vertex, which gives you 8 point and the walls between […]
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In this tutorial, I explain the concept, probabilistic sensor fusion model and the sensor model used in Octomap library. related publication: OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees 1)Octamap Volumetric Model 2)Probabilistic Sensor Fusion Model 3)Sensor Model for Laser Range Data
Octomap explanierend Read More »
Here is an example of obtaining occupancy grid from sensory data of turtlebot robot. 1.First you need to install all dependencies for gazebo and turtlebot and octomap server:
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sudo apt-get install ros-kinetic-gmapping ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-teleop |
2. Launch gazebo in a simulated environment:
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roslaunch turtlebot_gazebo turtlebot_world.launch |
3.Launch RVIZ to view the published data
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roslaunch turtlebot_rviz_launchers view_robot.launch |
3.Move your robot via keyboard:
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roslaunch turtlebot_teleop keyboard_teleop.launch |
to learn how to move the robot with
Making occupancy grid map in ROS from gazebo with Octomap Read More »
