OctoMap Server2

Implementation of octomap for ROS2.0

Port of the ROS1 octomap server for ROS2.0

Installation

Firstly make sure you have octomap installed on your system

Next, clone this ros package to the appropriate ros2 workspace

$ git clone https://github.com/iKrishneel/octomap_server2.git

Clone the dependency repositories to the workspace

# will clone octomap_msgs to the workspace
$ vcs import . < deps.repos

Building

Use colcon to build the workspace

$ colcon build --symlink-install --packages-select octomap_msgs octomap_server2

Running

Launch the node with appropriate input on topic cloud_in

$ ros2 launch octomap_server2 octomap_server_launch.py

Changelog by DeepX

1. Several PRs to make the fork work on ROS 2.
2. Silence periodic debug logs (#6): Convert periodic spam logs to use DEBUG level.
3. Add ~/heartbeat publisher (4739b33, e1ab37d).
   1. Message type: std_msgs::Header (frame_id field is not used).
   2. Published periodically at 10 Hz (default).
   3. Publication period can be configured with the heartbeat_period_ms parameter.
4. Disable parameter services (#8): To mitigate network load due to DDS discovery over WiFi.
5. Add health metrics for in/out PCD topics #10:
   1. Add ~/health/cloud_received publisher: Signal that the cloud_in callback has been triggered.
   2. Add ~/health/cloud_published publisher: Signal that octomap_point_cloud_centers has been published.
   3. Add publish_health_metrics boolean parameter (default: false).
   4. Message type: std_msgs::Header (frame_id field is not used).