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octomap_pa package from octomap_pa repo

octomap_pa octomap_pa_matlab octomap_pa_msgs

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.3.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/TUC-ProAut/ros_octomap.git
VCS Type git
VCS Version master
Last Updated 2021-06-08
Dev Status MAINTAINED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ProAut octomap package

Additional Links

No additional links.

Maintainers

  • Peter Weissig

Authors

No additional authors.
octomap_pa/README.md

ProAut OctoMap

Introduction

This package was designed to automatically remove outdated voxels from the original octomap.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.
”~/reset” octomap_pa_msgs/Reset Changes the resolution and the frame after clearing the internal octomap.
”~/getsize” octomap_pa_msgs/GetSize Returning number of nodes, total size in bytes and number of inserted measurments.
”~/save” octomap_pa_msgs/FileName Storing the current octomap as file - timestamps are not saved.
”~/load” octomap_pa_msgs/FileName 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.

Source code at github

https://github.com/TUC-ProAut/ros_octomap

https://github.com/TUC-ProAut/ros_parameter

ROS packages

ros-kinetic-octomap-pa (eol)

ros-melodic-octomap-pa (upcoming)
ros-melodic-octomap-pa-msgs (upcoming)
ros-melodic-octomap-pa-matlab (upcoming)

ros-noetic-octomap-pa (upcoming)
ros-noetic-octomap-pa-msgs (upcoming)
ros-noetic-octomap-pa-matlab (upcoming)

ROS Build-Status and Documentation

ROS-Distribution Build-Status Documentation
Indigo EOL April 2019 docs.ros.org/indigo
Jade EOL May 2017 docs.ros.org/jade
Kinetic EOL April 2021 docs.ros.org/kinetic
Lunar EOL May 2019 docs.ros.org/lunar
Melodic Build Status docs.ros.org/melodic
Noetic Build Status docs.ros.org/noetic
CHANGELOG

Changelog for package octomap_pa

Forthcoming

  • bugfixed missing instantiation of service callback
  • minor updates to readme
  • simplified all three nodes by using new wrapper class
  • added generic wrapper class for ProAut nodes
  • added package for messages (octomap_pa_msgs)
  • prepared repository to be splitted in several packages
  • Contributors: Peter Weissig

1.3.3 (2018-03-01)

  • Increased package version to avoid error on ros build farm different branches need different release version 1.3.3 for master (== kinetic and lunar) 1.2.3 for indigo
  • Contributors: Peter Weissig

1.2.2 (2018-02-25)

  • add missing dependency on messages from this package
  • Contributors: Mikael Arguedas

1.2.0 (2018-02-17)

  • Initial ROS-Package
  • Contributors: Peter Weissig

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Recent questions tagged octomap_pa at Robotics Stack Exchange

octomap_pa package from octomap_pa repo

octomap_pa octomap_pa_matlab octomap_pa_msgs

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.3.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/TUC-ProAut/ros_octomap.git
VCS Type git
VCS Version master
Last Updated 2021-06-08
Dev Status MAINTAINED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ProAut octomap package

Additional Links

No additional links.

Maintainers

  • Peter Weissig

Authors

No additional authors.
octomap_pa/README.md

ProAut OctoMap

Introduction

This package was designed to automatically remove outdated voxels from the original 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.
”~/reset” octomap_pa_msgs/Reset Changes the resolution and the frame after clearing the internal octomap.
”~/getsize” octomap_pa_msgs/GetSize Returning number of nodes, total size in bytes and number of inserted measurments.
”~/save” octomap_pa_msgs/FileName Storing the current octomap as file - timestamps are not saved.
”~/load” octomap_pa_msgs/FileName 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.

Source code at github

https://github.com/TUC-ProAut/ros_octomap

https://github.com/TUC-ProAut/ros_parameter

ROS packages

ros-kinetic-octomap-pa (eol)

ros-melodic-octomap-pa (upcoming)
ros-melodic-octomap-pa-msgs (upcoming)
ros-melodic-octomap-pa-matlab (upcoming)

ros-noetic-octomap-pa (upcoming)
ros-noetic-octomap-pa-msgs (upcoming)
ros-noetic-octomap-pa-matlab (upcoming)

ROS Build-Status and Documentation

ROS-Distribution Build-Status Documentation
Indigo EOL April 2019 docs.ros.org/indigo
Jade EOL May 2017 docs.ros.org/jade
Kinetic EOL April 2021 docs.ros.org/kinetic
Lunar EOL May 2019 docs.ros.org/lunar
Melodic Build Status docs.ros.org/melodic
Noetic Build Status docs.ros.org/noetic
CHANGELOG

Changelog for package octomap_pa

Forthcoming

  • bugfixed missing instantiation of service callback
  • minor updates to readme
  • simplified all three nodes by using new wrapper class
  • added generic wrapper class for ProAut nodes
  • added package for messages (octomap_pa_msgs)
  • prepared repository to be splitted in several packages
  • Contributors: Peter Weissig

1.3.3 (2018-03-01)

  • Increased package version to avoid error on ros build farm different branches need different release version 1.3.3 for master (== kinetic and lunar) 1.2.3 for indigo
  • Contributors: Peter Weissig

1.2.2 (2018-02-25)

  • add missing dependency on messages from this package
  • Contributors: Mikael Arguedas

1.2.0 (2018-02-17)

  • Initial ROS-Package
  • Contributors: Peter Weissig

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Recent questions tagged octomap_pa at Robotics Stack Exchange