easynav_octomap_stack

Warning

The development of the plugins in this repo has been moved to easynav_plugins.

This stack is part of the Easy Navigation (EasyNav) project developed by the Intelligent Robotics Lab. Ir building elevation grid maps from point cloud data. The node subscribes to a sensor topic, processes the incoming point cloud data, downsamples it, and publishes a grid_map_msgs::msg::GridMap message.

It is composed of the octomap_maps_builder package and the octomap_maps_manager package (currently under construction).

The OctomapMapsBuilderNode subscribes to sensor point cloud topics, processes and filters the data, and incrementally builds an Octomap representation of the environment. It publishes the resulting maps as ROS messages in both binary and full map formats.

Installation

Clone the repository into your ROS 2 workspace. Temporarilly you will need to install octomap-ros from a ThirdParties:

cd ~/ros2_ws/src
git clone https://github.com/EasyNavigation/easynav_octomap_stack.git
vcs import < easynav_octomap_stack/thirdparty.repos
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select easynav_octomap_maps_builder

Usage

Source your workspace:

source ~/ros2_ws/install/setup.bash

Create a parameter YAML file (e.g., params.yaml) with the following content:

octomap_maps_builder_node:
  ros__parameters:
    use_sim_time: true
    sensors: [map]
    downsample_resolution: 0.1
    perception_default_frame: map
    map:
      topic: map
      type: sensor_msgs/msg/PointCloud2
      group: points

Run the node using the parameter file with this command:

ros2 run easynav_octomap_maps_builder octomap_maps_builder_main \
--ros-args --params-file src/easynav_octomap_stack/params.yaml

Parameters

Parameter	Type	Default	Description
sensors	list	-	Topic names for incoming sensor point clouds.
downsample_resolution	double	1.0	Downsampling resolution for input point clouds.
perception_default_frame	string	"map"	Default target frame for perception fusion.
sensor_model.max_range	double	90.0	Maximum sensor range for raycasting.
resolution	double	1.0	Resolution of the OctoMap octree.
base_frame_id	string	"base_link"	Robot base frame ID.
occupancy_min_z	double	0.1	Minimum z height for occupancy filtering.
occupancy_max_z	double	10.0	Maximum z height for occupancy filtering.
publish_binary_map	bool	true	Enable publishing of binary octomap message.
publish_full_map	bool	true	Enable publishing of full octomap message.
world_frame_id	string	"map"	Global coordinate frame for map integration.