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Efficiency improvements and customizable occupancy 2D map projection. #9

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Efficiency improvements and customizable occupancy 2D map projection. #9

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29d32c1
Efficiency improvements and customizable occupancy 2D map projection.
carlosmccosta Jun 16, 2014
cfe8293
Improved efficiency of pointcloud integration and better parametrization
carlosmccosta Jun 18, 2014
dbb4055
Configuration of occupancy grid projection (min and max z) using dynamic
carlosmccosta Aug 13, 2014
03f1c1c
Added option to load the initial OctoMap from nav_msgs/OccupancyGrid msg
carlosmccosta Feb 18, 2015
87d6004
Added service to trigger the publish of octomap information into ros
carlosmccosta Mar 4, 2015
e102f8b
Improved integration of nav_msgs::OccupancyGrid msgs.
carlosmccosta Jul 9, 2015
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3 changes: 2 additions & 1 deletion octomap_server/cfg/OctomapServer.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -6,5 +6,6 @@ from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()

gen.add("max_depth", int_t, 0, "Maximum depth when traversing the octree to send out markers. 16: full depth / max. resolution", 16, 1, 16)

gen.add("occupancy_grid_2d_min_z", double_t, 0, "Minimum height for 2D occupancy map projection", 0)
gen.add("occupancy_grid_2d_max_z", double_t, 0, "Maiximum height for 2D occupancy map projection", 3)
exit(gen.generate(PACKAGE, "octomap_server_node", "OctomapServer"))
24 changes: 22 additions & 2 deletions octomap_server/include/octomap_server/OctomapServer.h
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Expand Up @@ -65,6 +65,7 @@
#include <octomap_ros/conversions.h>
#include <octomap/octomap.h>
#include <octomap/OcTreeKey.h>
#include <string>


namespace octomap_server {
Expand All @@ -81,6 +82,7 @@ class OctomapServer{
virtual ~OctomapServer();
virtual bool octomapBinarySrv(OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res);
virtual bool octomapFullSrv(OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res);
virtual bool octomapPublishAllSrv(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
bool clearBBXSrv(BBXSrv::Request& req, BBXSrv::Response& resp);
bool resetSrv(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp);

Expand Down Expand Up @@ -112,7 +114,9 @@ class OctomapServer{
void reconfigureCallback(octomap_server::OctomapServerConfig& config, uint32_t level);
void publishBinaryOctoMap(const ros::Time& rostime = ros::Time::now()) const;
void publishFullOctoMap(const ros::Time& rostime = ros::Time::now()) const;
void publishAll(const ros::Time& rostime = ros::Time::now());
void publishAll(const ros::Time& rostime = ros::Time::now(), bool forceMsgPublish = false);

void insertReferenceOccupancyGrid(const nav_msgs::OccupancyGridConstPtr& occupancy_grid_msg);

/**
* @brief update occupancy map with a scan labeled as ground and nonground.
Expand Down Expand Up @@ -191,7 +195,8 @@ class OctomapServer{
ros::Publisher m_markerPub, m_binaryMapPub, m_fullMapPub, m_pointCloudPub, m_collisionObjectPub, m_mapPub, m_cmapPub, m_fmapPub, m_fmarkerPub;
message_filters::Subscriber<sensor_msgs::PointCloud2>* m_pointCloudSub;
tf::MessageFilter<sensor_msgs::PointCloud2>* m_tfPointCloudSub;
ros::ServiceServer m_octomapBinaryService, m_octomapFullService, m_clearBBXService, m_resetService;
ros::Subscriber m_OccupancyGridSub_;
ros::ServiceServer m_octomapBinaryService, m_octomapFullService, m_octomapPublishAllService, m_clearBBXService, m_resetService;
tf::TransformListener m_tfListener;
dynamic_reconfigure::Server<OctomapServerConfig> m_reconfigureServer;

Expand All @@ -203,6 +208,7 @@ class OctomapServer{
double m_maxRange;
std::string m_worldFrameId; // the map frame
std::string m_baseFrameId; // base of the robot for ground plane filtering
std::string m_sensorFrameId; // the sensor frame
bool m_useHeightMap;
std_msgs::ColorRGBA m_color;
std_msgs::ColorRGBA m_colorFree;
Expand All @@ -218,11 +224,17 @@ class OctomapServer{
double m_probMiss;
double m_thresMin;
double m_thresMax;
double m_thresOccupancy;

bool m_overrideSensorZ;
double m_overrideSensorZValue;
double m_pointcloudMinZ;
double m_pointcloudMaxZ;
double m_occupancyMinZ;
double m_occupancyMaxZ;
double m_occupancyGrid2DMinZ;
double m_occupancyGrid2DMaxZ;
bool m_occupancyGrid2DInitializedAsFree;
double m_minSizeX;
double m_minSizeY;
bool m_filterSpeckles;
Expand All @@ -234,6 +246,14 @@ class OctomapServer{

bool m_compressMap;


ros::Duration m_miniumAmountOfTimeBetweenROSMsgPublishing;
int m_minimumNumberOfIntegrationsBeforeROSMsgPublishing;
ros::Time m_timeLastPublishedROSMsgs;
int m_numberIntegrationsSinceLastPublishedROSMsgs;



// downprojected 2D map:
bool m_incrementalUpdate;
nav_msgs::OccupancyGrid m_gridmap;
Expand Down
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