Octomap Depth Mapping for ROS2

octomap_depth_mapping is a ROS2 package to create octomaps from depth images

Dependencies

• ROS2 Foxy or above
• Octomap
• OpenCV
• cv_bridge
• message_filters
• CUDA Toolkit (optional, for details)

Usage

You can clone this repository into your <your-ros2-workspace>/src folder and build the workspace

git clone https://github.com/berkealgul/ros2-octomap-depth-mapping.git

Before building this package, decide cuda usage and change your distance function if necessary

To launch the package (dont forget to source the package)

ros2 launch octomap_depth_mapping mapping_launch.py

Node: octodm_node

Main mapping and publishing node

Published Topics

|Name|Type|Description| |:—:|:—:|—| |octomap_fullmap| octomap_msgs/Octomap | generated octomap (orginated at 0,0,0) |

Subscribed Topics

|Name|Type|Description| |:—:|:—:|—| |depth/rect | sensor_msgs/Image | rectified depth image see here for details | | pose | geometry_msgs/PoseStamped | pose of the camera relative to world origin |

Parameters

|Name|Default|Type|Description| |:—:|:—:|:—:|—| |sensor_model/fx | 524.0 | double | Camera fx calibration value | |sensor_model/fy | 524.0 | double | Camera fy calibration value | |sensor_model/cx | 316.8 | double | Camera cx calibration value | |sensor_model/cy | 238.5 | double | Camera cy calibration value | |sensor_model/hit | 0.7 | double | Hit probability of octomap | |sensor_model/miss| 0.4 | double | Miss probability of octomap | |sensor_model/min | 0.12 | double | Minimum probability of empty cell | |sensor_model/max | 0.97 | double | Maximum probability of occupied cell | |encoding | mono16 | string | Input image encoding | |resolution | 0.05 | double | Octomap resolution | |padding | 1 | int | Padding size between pixel during image projection | |width | 640 | int | Input image width | |height | 480 | int | Input image height | |frame_id | map | string | Octomap ROS frame id | |filename | | string | file path for saving & loading octomap (optional) | |save_on_shutdown | false | bool | If true octomap is saved to filename before shutting down |

Remappings

|Name|Default|Description| |:—:|:—:|—| |image_in | depth/rect | Subscribed image topic | |pose_in | pose | Subscribed camera pose topic | |map_out | octomap_fullmap | Published octomap topic |

Services

|Name|Type|Description| |:—:|:—:|—| |reset | std_srvs/srv/Empty | Deletes octomap nodes | |save | std_srvs/srv/Empty | Saves octomap into filename location| |get_octomap | octomap_msgs/srv/GetOctomap | Returns current state of octomap |

About Image Data

This package supports 8 and 16 bit greyscale images

CV_U8C1 and CV_16UC1 in OpenCV literature

mono8 and mono16 in cv_bridge literature

In addition, images are assumed to be rectified beforehand; thus no distortion parameters are needed for this package

Cuda

By default cuda is not supported. In order to compile with cuda, uncomment line at CMakeLists.txt

# uncomment this line to use cuda
#set(USE_CUDA TRUE)

This package developed with cuda toolkit 11.4 and supports with gpu compute capabilities 3.5 and above

To learn more about cuda device compatibility look at this link

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