Local_Octomap_Server

Requirements :

Octomap:

• sudo apt-get install ros-noetic-octomap*
• git clone https://github.com/OctoMap/octomap_mapping.git and catkin_make

MapServer:

• sudo apt-get install ros-noetic-map-server

quick install :

• cd catkin_ws/src
• git clone https://gaoyichao.com:61698/third/localoctomap_server.git
• cd ..
• catkin_make

main features：

save the obstacle pointclouds surrounding the robot with local octomap

service :

• ClearOctomap
  Description: clear the Octree, the pointcloud and the gridmap
  req: cmd (bool, true)
  res: None

• SaveGridmap
  Description: save the gridmap to specified path
  req: map_savepath(std::string, "/home/yourusername/map/")
  Description: the last path represents the girdmap name ,which is a directory res: state(bool, "true")
  Description: true if saved map success

params :

• pointcloud (std::string, default: "/pointcloud")
  Description: topic name of the input pointcloud

• base_frame (std::string, default: "/map")
  Description: topic name of the fix frame

• leaf_size (double, default: "0.05")
  Description: leaf size of the octomap tree

• max_range (double, default: "3.0")
  Description: max distance between the camera and the target points

• max_rayRange (double, default: "3.0")
  Description: max distance for the KeyRay

• publish_gridmap (bool, default: "true")
  Description: whether process gridmap

• loadmap_path (std::string, default: "map.yaml")
  Description: work when publish_gridmap is true, not load if value equals ""

• incremental_update (bool, default: "true")
  Description: work when publish_gridmap is true, whether update the gridmap incrementally