For questions (and FAQ), check or contact Armin Hornung. Use the alufr-ros-pkg issue tracker to report bugs or request features. That will download and compile the octomap sourcecode, and compile all octomap-related ROS packages.įor more documentation, see the documentation of the packages in this stack, in particular octomap and octomap_server, or the OctoMap library at. in ~/.bashrc), source that file and run rosdep install octomap_mapping The occupancy grid mapping is considered as an effective method of map making 1, 2, 3 which was already used in the past, where the estimation of the probability of individual cells depends upon the output of the range sensor (sonar, vision, laser, IR, etc.). To compile this stack from source you need to checkout the code (trunk or a tagged release), add the source directory to your ROS_PACKAGE_PATH (e.g. ![]() The dynamic grid map enables tasks such as free space extraction 4 and detection of arbitrary-shaped objects. Sudo apt-get install ros-fuerte-octomap ros-fuerte-octomap-mapping Grid Maps (DGMs) 3, in which the vehicle-centered environment in Bird’s-Eye-View (BEV) is divided into grid cells, each of which is assigned a probability of being occupied or free as well as a velocity distribution. To install octomap, ROS integration, and octomap_server run For just installing octomap as a stand-alone library, run ![]() deb-packages available in the ROS Ubuntu repository, or compile from source. Mapping tools to be used with the OctoMap library, implementing a 3D occupancy grid mapping.Įither use the pre-built.
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