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