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octomap_ros's Issues

how to convert the coloroctree to octree

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! :)

Update to use tf2

Are there any plans to migrate this to use tf2 since tf is considered deprecated?

Convert .ply(or .las) to .bt file

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..

Warning at compile time, plus catkin_lint

$ 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.

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