Real-time construction of the eight-fork tree model in ROS

Real-time construction of the eight-fork tree model in ROS

ROS

The main content of graduation design is the modeling of indoor environment, and the conversion into eight-fork tree model, for the subsequent use of the need. This paper introduces the establishment of the offline eight-fork tree model and the construction of the real-time eight-fork tree environment model.
1. Environment construction
Platform:
ubuntuUnder ROS , used hydro and indigo , other versions to be confirmed ( ros please refer to the installation ros wiki );
Open source Indoor modeling project, ROS under the understanding of RGBD open source projects have RGBD_SLAM and rtabmap , here is used rtabmap , rtabmap the installation please refer to ros rtabmap .
rosUnder the octomap package, install $ sudo apt-get install ros-indigo-octomap-ros .

2. Steps:
-Offline Model Building
Call the command in turn:
$ roscore
$ rosrun rtabmap_ros rtabmap _Mem/IncrementalMemory:=false _database_path:=**.db
$ rosrun rtabmap_ros map_assembler _cloud_voxel_size:=0.05
$ rosrun octomap_server octomap_server_node cloud_in:=assembled_clouds
$ rosrun rviz rviz /rtabmap/get_map:=/get_map
Next setrviz
Set upfixed frameFor/map;
Add thepointcloud2Display, the subscription node is/assembled_clouds；
Add a display to the octal tree, if not installedoctomap_rviz_pluginsPass$ sudo apt-get install ros-hydro-ocotmap-rviz-pulginsinstallation, subscription node/octomap_full。
Call$ rosservice call /publish_map 1 1 0Start the conversion.
-Online model conversion
$ roscore
$ rosrun rtabmap_ros rtabmap
$ rosrun rtabmap_ros map_assembler _cloud_voxel_size:=0.05
$ rosrun octomap_server octomap_server_node cloud_in:=assembled_clouds
$ rosrun rviz rviz /rtabmap/get_map:=/get_map
Namespace resolution please confirm the correct (according to your own situation, the specific reference to each node input and output)
Set the same as aboverviz。
Call$ rosservice call /data_player/pauseAnd$ rosservice call /data_player/resumePause and resume.

Real-time construction of the eight-fork tree model in ROS