No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/TUC-ProAut/ros_octomap.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2018-09-04 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| octomap_pa | 1.3.3 |
README
ProAut OctoMap
Introduction
This package was designed to automatically remove outdated voxels from the octomap.
We described our motivation and concept on our octomap-website - here you will also find two supportive videos. For further explanations, you may want to have a look at this workshop abstract.
Nodes
Our implementation of decay:
rosrun octomap_pa octree_stamped_pa_node
roslaunch octomap_pa octomap_stamped_pa.launch
The native implementation of decay by the original octomap package:
rosrun octomap_pa octree_stamped_native_node
roslaunch octomap_pa octomap_stamped_native.launch
Simple node without decay:
rosrun octomap_pa octree_pa_node
roslaunch octomap_pa octomap_pa.launch
Input and Output Topics:
| Topic Name | Type | Description |
|---|---|---|
| "~/in_cloud" | sensor_msgs/PointCloud2 | Input as new pointcloud type. |
| "~/in_cloud_old" | sensor_msgs/PointCloud | Input as old pointloud type. Will be converted to new pointcloud type. |
| "~/in_laser" | sensor_msgs/LaserScan | Input as single laser scan. Will be converted to new pointcloud type by package "laser_geometry". |
| "~/out_octomap" | octomap_msgs/Octomap | Output of binary octomap - voxels are either free or occupied (smaller in size). |
| "~/out_octomap_full" | octomap_msgs/Octomap | Output of octomap (full size). |
| "~/out_cloud_free" | sensor_msgs/PointCloud2 | Output of all free voxels as pointcloud. |
| "~/out_cloud_occupied" | sensor_msgs/PointCloud2 | Output of all occupied voxels as pointcloud. |
All topics can be remapped using parameters (see below).
Services:
| Service Name | Type | Description |
|---|---|---|
| "~/clear" | std_srvs/Empty | Deletes internal octomap. |
| "~/getsize" | octomap_pa/OctomapPaGetSize | Returning number of nodes, total size in bytes and number of inserted measurments. |
| "~/save" | octomap_pa/OctomapPaFileName | Storing the current octomap as file - timestamps are not saved. |
| "~/load" | octomap_pa/OctomapPaFileName | Loading a octomap from file - timestamps are ignored. |
Parameters:
degrading of voxels
| Parameter Name | Type | Description |
|---|---|---|
| "~/degrading_time" | double | Duration how long the outdated nodes will be kept. |
| "~/auto_degrading" | bool | Turns on automatic degrading. |
| "~/auto_degrading_intervall" | double | Intervall for automatic degrading. |
pointcloud insertion
| Parameter Name | Type | Description |
|---|---|---|
| "~/map_prob_hit" | double | Probability that a positive measurement relates to a occupied voxel. |
| "~/map_prob_miss" | double | Probability that a negative measurement relates to a occupied voxel. |
| "~/pcd_voxel_active" | bool | Use voxel-filter for pointcloud insertion. |
| "~/pcd_voxel_explicit" | bool | Use pcl-filter instead of octomap-filter. |
| "~/pcd_voxel_explicit_relative_resolution" | double | Relative resolution of pcl-filter. |
octomap in general
| Parameter Name | Type | Description |
|---|---|---|
| "~/output_frame" | string | Coordinate system for insertion and output. |
| "~/map_resolution" | double | Side length of one voxel (in meters). |
| "~/map_prob_threshold" | double | Threshold for binary evaluation of single voxels. |
| "~/map_clamp_min" | double | Lower clamping value of occupancy probability. |
| "~/map_clamp_max" | double | Upper clamping value of occupancy probability. |
topics and services
| Parameter Name | Type | Description |
|---|---|---|
| "~/topic_in_cloud" | string | Name of input topic for new pointclouds. |
| "~/topic_in_cloud_old" | string | Name of input topic for old pointclouds. |
| "~/topic_in_laser" | string | Name of input topic for laser scans. |
| "~/topic_out_octomap" | string | Name of output topic for binary octomap. |
| "~/topic_out_octomap_full" | string | Name of output topic for full octomap. |
| "~/topic_out_cload_free" | string | Name of output topic for free voxels. |
| "~/topic_out_cloud_occupied" | string | Name of output topic for occupied voxels. |
See also this config file. It contains all parameters and their default value.
Links
Source code at github:
Related packages:
ROS packages:
ros-kinetic-octomap-pa packages for indigo and lunar will be soon available
ROS Build-Status and Documentation
| ROS-Distribution | Build-Status | Documentation |
|---|---|---|
| Indigo | docs.ros.org | |
| Jade | EOL May 2017 | - |
| Kinetic | docs.ros.org | |
| Lunar | docs.ros.org |
No version for distro ardent. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/TUC-ProAut/ros_octomap.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2018-09-04 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| octomap_pa | 1.3.3 |
README
ProAut OctoMap
Introduction
This package was designed to automatically remove outdated voxels from the octomap.
We described our motivation and concept on our octomap-website - here you will also find two supportive videos. For further explanations, you may want to have a look at this workshop abstract.
Nodes
Our implementation of decay:
rosrun octomap_pa octree_stamped_pa_node
roslaunch octomap_pa octomap_stamped_pa.launch
The native implementation of decay by the original octomap package:
rosrun octomap_pa octree_stamped_native_node
roslaunch octomap_pa octomap_stamped_native.launch
Simple node without decay:
rosrun octomap_pa octree_pa_node
roslaunch octomap_pa octomap_pa.launch
Input and Output Topics:
| Topic Name | Type | Description |
|---|---|---|
| "~/in_cloud" | sensor_msgs/PointCloud2 | Input as new pointcloud type. |
| "~/in_cloud_old" | sensor_msgs/PointCloud | Input as old pointloud type. Will be converted to new pointcloud type. |
| "~/in_laser" | sensor_msgs/LaserScan | Input as single laser scan. Will be converted to new pointcloud type by package "laser_geometry". |
| "~/out_octomap" | octomap_msgs/Octomap | Output of binary octomap - voxels are either free or occupied (smaller in size). |
| "~/out_octomap_full" | octomap_msgs/Octomap | Output of octomap (full size). |
| "~/out_cloud_free" | sensor_msgs/PointCloud2 | Output of all free voxels as pointcloud. |
| "~/out_cloud_occupied" | sensor_msgs/PointCloud2 | Output of all occupied voxels as pointcloud. |
All topics can be remapped using parameters (see below).
Services:
| Service Name | Type | Description |
|---|---|---|
| "~/clear" | std_srvs/Empty | Deletes internal octomap. |
| "~/getsize" | octomap_pa/OctomapPaGetSize | Returning number of nodes, total size in bytes and number of inserted measurments. |
| "~/save" | octomap_pa/OctomapPaFileName | Storing the current octomap as file - timestamps are not saved. |
| "~/load" | octomap_pa/OctomapPaFileName | Loading a octomap from file - timestamps are ignored. |
Parameters:
degrading of voxels
| Parameter Name | Type | Description |
|---|---|---|
| "~/degrading_time" | double | Duration how long the outdated nodes will be kept. |
| "~/auto_degrading" | bool | Turns on automatic degrading. |
| "~/auto_degrading_intervall" | double | Intervall for automatic degrading. |
pointcloud insertion
| Parameter Name | Type | Description |
|---|---|---|
| "~/map_prob_hit" | double | Probability that a positive measurement relates to a occupied voxel. |
| "~/map_prob_miss" | double | Probability that a negative measurement relates to a occupied voxel. |
| "~/pcd_voxel_active" | bool | Use voxel-filter for pointcloud insertion. |
| "~/pcd_voxel_explicit" | bool | Use pcl-filter instead of octomap-filter. |
| "~/pcd_voxel_explicit_relative_resolution" | double | Relative resolution of pcl-filter. |
octomap in general
| Parameter Name | Type | Description |
|---|---|---|
| "~/output_frame" | string | Coordinate system for insertion and output. |
| "~/map_resolution" | double | Side length of one voxel (in meters). |
| "~/map_prob_threshold" | double | Threshold for binary evaluation of single voxels. |
| "~/map_clamp_min" | double | Lower clamping value of occupancy probability. |
| "~/map_clamp_max" | double | Upper clamping value of occupancy probability. |
topics and services
| Parameter Name | Type | Description |
|---|---|---|
| "~/topic_in_cloud" | string | Name of input topic for new pointclouds. |
| "~/topic_in_cloud_old" | string | Name of input topic for old pointclouds. |
| "~/topic_in_laser" | string | Name of input topic for laser scans. |
| "~/topic_out_octomap" | string | Name of output topic for binary octomap. |
| "~/topic_out_octomap_full" | string | Name of output topic for full octomap. |
| "~/topic_out_cload_free" | string | Name of output topic for free voxels. |
| "~/topic_out_cloud_occupied" | string | Name of output topic for occupied voxels. |
See also this config file. It contains all parameters and their default value.
Links
Source code at github:
Related packages:
ROS packages:
ros-kinetic-octomap-pa packages for indigo and lunar will be soon available
ROS Build-Status and Documentation
| ROS-Distribution | Build-Status | Documentation |
|---|---|---|
| Indigo | docs.ros.org | |
| Jade | EOL May 2017 | - |
| Kinetic | docs.ros.org | |
| Lunar | docs.ros.org |
No version for distro jade. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/TUC-ProAut/ros_octomap.git |
| VCS Type | git |
| VCS Version | indigo |
| Last Updated | 2018-03-01 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| octomap_pa | 1.2.3 |
README
ProAut OctoMap
Introduction
This package was designed to automatically remove outdated voxels from the octomap.
We described our motivation and concept on our octomap-website - here you will also find two supportive videos. For further explanations, you may want to have a look at this workshop abstract.
Nodes
Our implementation of decay:
rosrun octomap_pa octree_stamped_pa_node
roslaunch octomap_pa octomap_stamped_pa.launch
The native implementation of decay by the original octomap package:
rosrun octomap_pa octree_stamped_native_node
roslaunch octomap_pa octomap_stamped_native.launch
Simple node without decay:
rosrun octomap_pa octree_pa_node
roslaunch octomap_pa octomap_pa.launch
Input and Output Topics:
| Topic Name | Type | Description |
|---|---|---|
| "~/in_cloud" | sensor_msgs/PointCloud2 | Input as new pointcloud type. |
| "~/in_cloud_old" | sensor_msgs/PointCloud | Input as old pointloud type. Will be converted to new pointcloud type. |
| "~/in_laser" | sensor_msgs/LaserScan | Input as single laser scan. Will be converted to new pointcloud type by package "laser_geometry". |
| "~/out_octomap" | octomap_msgs/Octomap | Output of binary octomap - voxels are either free or occupied (smaller in size). |
| "~/out_octomap_full" | octomap_msgs/Octomap | Output of octomap (full size). |
| "~/out_cloud_free" | sensor_msgs/PointCloud2 | Output of all free voxels as pointcloud. |
| "~/out_cloud_occupied" | sensor_msgs/PointCloud2 | Output of all occupied voxels as pointcloud. |
All topics can be remapped using parameters (see below).
Services:
| Service Name | Type | Description |
|---|---|---|
| "~/clear" | std_srvs/Empty | Deletes internal octomap. |
| "~/getsize" | octomap_pa/OctomapPaGetSize | Returning number of nodes, total size in bytes and number of inserted measurments. |
| "~/save" | octomap_pa/OctomapPaFileName | Storing the current octomap as file - timestamps are not saved. |
| "~/load" | octomap_pa/OctomapPaFileName | Loading a octomap from file - timestamps are ignored. |
Parameters:
degrading of voxels
| Parameter Name | Type | Description |
|---|---|---|
| "~/degrading_time" | double | Duration how long the outdated nodes will be kept. |
| "~/auto_degrading" | bool | Turns on automatic degrading. |
| "~/auto_degrading_intervall" | double | Intervall for automatic degrading. |
pointcloud insertion
| Parameter Name | Type | Description |
|---|---|---|
| "~/map_prob_hit" | double | Probability that a positive measurement relates to a occupied voxel. |
| "~/map_prob_miss" | double | Probability that a negative measurement relates to a occupied voxel. |
| "~/pcd_voxel_active" | bool | Use voxel-filter for pointcloud insertion. |
| "~/pcd_voxel_explicit" | bool | Use pcl-filter instead of octomap-filter. |
| "~/pcd_voxel_explicit_relative_resolution" | double | Relative resolution of pcl-filter. |
octomap in general
| Parameter Name | Type | Description |
|---|---|---|
| "~/output_frame" | string | Coordinate system for insertion and output. |
| "~/map_resolution" | double | Side length of one voxel (in meters). |
| "~/map_prob_threshold" | double | Threshold for binary evaluation of single voxels. |
| "~/map_clamp_min" | double | Lower clamping value of occupancy probability. |
| "~/map_clamp_max" | double | Upper clamping value of occupancy probability. |
topics and services
| Parameter Name | Type | Description |
|---|---|---|
| "~/topic_in_cloud" | string | Name of input topic for new pointclouds. |
| "~/topic_in_cloud_old" | string | Name of input topic for old pointclouds. |
| "~/topic_in_laser" | string | Name of input topic for laser scans. |
| "~/topic_out_octomap" | string | Name of output topic for binary octomap. |
| "~/topic_out_octomap_full" | string | Name of output topic for full octomap. |
| "~/topic_out_cload_free" | string | Name of output topic for free voxels. |
| "~/topic_out_cloud_occupied" | string | Name of output topic for occupied voxels. |
See also this config file. It contains all parameters and their default value.
Links
Source code at github:
Related packages:
ROS packages:
ros-kinetic-octomap-pa packages for indigo and lunar will be soon available
ROS Build-Status and Documentation
| ROS-Distribution | Build-Status | Documentation |
|---|---|---|
| Indigo | docs.ros.org | |
| Jade | EOL May 2017 | - |
| Kinetic | docs.ros.org | |
| Lunar | docs.ros.org |
No version for distro hydro. Known supported distros are highlighted in the buttons above.