Skip to content

Latest commit

 

History

History
24 lines (20 loc) · 799 Bytes

README.md

File metadata and controls

24 lines (20 loc) · 799 Bytes

cvt_pcd2octomap

Description

A ros package for converting pcd file to octomap *.bt/*.ot file.
It has two nodes, which is for binary and color tree respectively. Furthermore, online converting PointCloud2 to Octomap message is alse available using octomap_server and pcl_ros. You can use launch file to start it and rviz to visualize it.
An octomap of a room is like this:
octomap_room

Dependency

For offline file converting:

  • pcl 1.7
  • octomap 1.8 For online message converting:
  • pcl 1.7
  • octomap 1.8
  • ROS Kinetic
  • pcl_ros 1.4.4
  • octomap_server 0.6.4

Document

You can find more information about function usage here: https://haowenlai.github.io/pcd2octomap/

Author

Haowen Lai