ROS package to provide conversion functions between ROS / PCL and OctoMap's native types.
ROS package to provide conversion functions between ROS and OctoMap's native types.
ROS1 support is on branch melodic-devel
ROS2 support is on branch ros2.
This repository continues from the groovy branch imported from SVN: http://alufr-ros-pkg.googlecode.com/svn/branches/octomap_stacks-groovy-devel/octomap_ros/ See https://code.google.com/p/alufr-ros-pkg/ for the previous versions.
$ catkin build octomap_ros using cmake-3.12.2-Linux-x86_64 (should be with any cmake>3.0.2) reports
Warnings << octomap_ros:cmake /home/ap/catkin_ws/logs/octomap_ros/build.cmake.000.log
CMake Warning (dev) at CMakeLists.txt:23 (add_library):
Policy CMP0038 is not set: Targets may not link directly to themselves.
Run "cmake --help-policy CMP0038" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
Target "octomap_ros" links to itself.
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at CMakeLists.txt:23 (add_library):
Policy CMP0038 is not set: Targets may not link directly to themselves.
Run "cmake --help-policy CMP0038" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
Target "octomap_ros" links to itself.
This warning is for project developers. Use -Wno-dev to suppress it.
Taking a look at CMakeLists.txt I was also wondering about all those link_library calls, so I ran catkin lint:
$ catkin lint -W2 --pkg octomap_ros
octomap_ros: CMakeLists.txt(7): error: catkin_package() lists 'sensor_msgs' as system package but it is not
octomap_ros: CMakeLists.txt(7): error: catkin_package() lists 'tf' as system package but it is not
octomap_ros: CMakeLists.txt(7): error: catkin_package() lists 'octomap_msgs' as system package but it is not
octomap_ros: CMakeLists.txt(7): error: catkin_package() exports non-package include path
octomap_ros: package.xml: error: build_depend 'catkin' should be a buildtool_depend
octomap_ros: CMakeLists.txt(7): warning: package 'sensor_msgs' should be listed in catkin_package()
octomap_ros: CMakeLists.txt(7): warning: package 'octomap_msgs' should be listed in catkin_package()
octomap_ros: CMakeLists.txt(13): warning: use of link_directories() is strongly discouraged
octomap_ros: CMakeLists.txt(17): warning: use of link_directories() is strongly discouraged
octomap_ros: CMakeLists.txt(4): notice: list COMPONENTS should be sorted
octomap_ros: CMakeLists.txt(7): notice: list DEPENDS should be sorted
octomap_ros: CMakeLists.txt(28): notice: use ${PROJECT_NAME} instead of 'octomap_ros'
catkin_lint: checked 1 packages and found 12 problems
I have a tentative PR ready.
Can the maintainers please release this for ROS Melodic?
Are there any plans to migrate this to use tf2 since tf is considered deprecated?
Hi, when I use the fcl library, I want to convert the coloroctree to octree, but I do not find any method. I have tried the following way, but it did not make any difference.
octomap::ColorOcTree* octree = new octomap::ColorOcTree(0.1);
octomap::OcTree* octree1 = dynamic_castoctomap::OcTree*(octree);
Could you help me solve this question?
Thanks! :)
octomap_ros/src/conversions.cpp:46:23: error: explicit instantiation cannot have a storage class
it looks like clang doesn't like the static keyword in https://github.com/OctoMap/octomap_ros/blob/master/src/conversions.cpp#L45 and L46. After removing staticin both lines, everything compiles.
Not sure what the intention behind these two lines was. I can also open a PR with the changes if that makes it easier.
Would you mind releasing octomap_ros to ROS Noetic? It looks like all of its dependencies have been released, and recursively 13 repos need it.
I'm not sure how much work it will need. The Noetic Migration Guide or the guide about transitioning ROS packages to Python 3 may be useful.
Plys hydro is not even maintained anymore. Thx dude !
Can I convert ply or las file to bt file(octomap file)?
I have ply, las file which has whole point cloud of indoor environments. so I want to convert them to octomap on Rviz..
Hi!
When I want to use the function octomap::pointcloudPCLToOctomap listed in this document, I find there is no corresponding function in my ocotomap_ros.
I installed this lib by sudo apt-get install ros-noetic-****.
Did I miss something?
Thanks!
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