Octomap

Octomap explanierend

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    

Making occupancy grid map in ROS from gazebo with Octomap

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:

2. Launch gazebo in a simulated environment:

3.Launch RVIZ to view the published data

3.Move your robot via keyboard:

to learn how to move the robot with …

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