VDB Mapping ROS2

Implementation of vdb_mapping_ros for ROS2.0

Port of the ROS1 VDB Mapping for ROS2.0

The VDB Mapping ROS Package is a ROS wrapper around VDB Mapping

Getting Started

Requirements

This library requires OpenVDB as it is build around it. This library was initially developed using Version 6.2

Either use the apt package which will be automatically installed via rosdep or compile the package from source using the provided build instructions

Build instructions

# source global ros
source /opt/ros/<your_ros_version>/setup.bash

# create a colcon workspace
mkdir -p ~/colcon_ws/src && cd colcon_ws

# clone packages
git clone https://github.com/omerfkaya/vdb_mapping.git
git clone https://github.com/omerfkaya/vdb_mapping_msgs.git
git clone https://github.com/omerfkaya/vdb_mapping_ros2.git

# install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -y

# build the workspace.  
colcon build --symlink-install

# source the workspace
source install/setup.bash

ROS API

Advertised ROS Topics

~/vdb_map_visualization (type: visualization_msgs/Marker)

Publishes the resulting map as voxel marker

~/vdb_map_pointcloud (type: sensor_msgs/PointCloud2)

Publishes the resulting map as pointcloud

Subscribed ROS Topics

~/Parameter:aligned_points (type: sensor_msgs/PointCloud2)

Subscriber for pointclouds which are already aligned to a specific frame

~/Parameter:raw_points (type: sensor_msgs/PointCloud2)

Subscriber for pointclouds in sensor coordinates

ROS Parameters

All parameters can be passed as commandline arguments to the launch file.

Parameter Name	Type	Default	Information
aligned_points	string	scan_matched_points2	Pointclouds which are already aligned to a specific frame (e.g. /map)
raw_points	string	raw_points	Pointclouds in sensor frame
sensor_frame	string	velodyne	Sensor frame for raycasting aligned pointclouds
map_frame	string	map	Coordinate frame of the map
max_range	double	10.0	Maximum raycasting range
resolution	double	0.07	Map resolution
prob_hit	double	0.8	Probability update if a beam hits a voxel
prob_miss	double	0.1	Probability update if a beam misses a voxel
prob_thres_min	double	0.12	Lower occupancy threshold of a voxel
prob_thres_max	double	0.8	Upper occupancy threshold of a voxel
publish_pointcloud	boolean	true	Specify whether the map should be published as pointcloud
publish_vis_marker	boolean	true	Specify whether the map should be published as visual marker