7. ORB_SLAM2 Octomap Mapping

Note: This example is implemented on Orin NX, and cannot be implemented on a virtual machine. It only explains how the process is implemented. If you want to implement this function on your own motherboard, you need to compile the entire function package and connect related peripherals and debug.

octomap official website: http://octomap.github.io/

octomap source code: https://github.com/OctoMap/octomap

octomap wiki: http://wiki.ros.org/octomap

octomap_server: http://wiki.ros.org/octomap_server

The operating environment and reference configuration of software and hardware are as follows:

• Reference vehicle: ROSMASTER X3
• Robot hardware configuration: Arm series master control, Silan A1 laser radar, depth camera
• Robot system: Ubuntu 20.04
• PC virtual machine: Ubuntu (20.04) + ROS2 (Foxy)
• Usage scenario: Use on a relatively clean 2D plane

7.1, Introduction

Octomap is an octree-based 3D map creation tool that can display complete 3D graphics including barrier-free areas and unmapped areas, and sensor data based on occupancy grids can be fused and updated in multiple measurements; Maps are available in multiple resolutions, data can be compressed, and storage is compact. In fact, the code of octomap mainly consists of two modules: octomap, a 3D map creation tool, and octovis, a visualization tool. Compared with point clouds, it can save a lot of space. The map created by octomap looks like this: (different resolutions from left to right)

7.2 , octomap map based on camera

Execute the following launch file in the terminal:

1. Start the camera

#Camera startup
ros2 launch astra_camera gemini.launch.xml

2. Start octomap_server map

<
 ORB_SLAM2 PCL Mapping
ROS+OpenCV application