ProAut OctoMap

Introduction

This package was designed to automatically remove outdated voxels from the octomap.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:

All topics can be remapped using parameters (see below).

Services:

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Name | Type | Description —————————–|———————-|————————————- “~/degrading_time” | double | Duration how long the outdated nodes will be kept.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.

Links

Source code at github:

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

Related packages:

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

ROS packages:

ros-kinetic-octomap-pa packages for indigo and lunar will be soon available

ROS Build-Status and Documentation

ROS-Distribution	Build-Status	Documentation
Indigo		docs.ros.org
Jade	EOL May 2017	-
Kinetic		docs.ros.org
Lunar		docs.ros.org