# mrs_octomap_mapping_planning

**Repository Path**: youxia23/mrs_octomap_mapping_planning

## Basic Information

- **Project Name**: mrs_octomap_mapping_planning
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-09-01
- **Last Updated**: 2024-09-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Octomap Mapping & Planning

Metapackage containing MRS Octomap-based 3D mapper and planner.

![](./.fig/octomap_server.png)

> :warning: **Attention please: This README is outdated.**
>
> The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

## Dependencies

* [mrs_uav_core](http://github.com/ctu-mrs/mrs_uav_core)
* [mrs_uav_modules](http://github.com/ctu-mrs/mrs_uav_modules)

## Packages

* mrs_octomap_mapping_planning - launch files, example tmux session
* [mrs_octomap_server](https://github.com/ctu-mrs/mrs_octomap_server) - Uses Octomap to build global & local map
* [mrs_octomap_planner](https://github.com/ctu-mrs/mrs_octomap_planner) - 3D planner for UAVs
* [mrs_octomap_tools](https://github.com/ctu-mrs/mrs_octomap_tools) - MRS Tools and libraries for Octomap

## Example session

Example tmuxinator session is provided in the `tmux` subfolder.

## Main launch file

The [launch file](./ros_packages/octomap_mapping_planning/launch/mapplan.launch)
```
./ros_packages/octomap_mapping_planning/launch/mapplan.launch
```
was prepared to launch

* PointCloud filter ([mrs_pcl_tools](https://github.com/ctu-mrs/mrs_pcl_tools)),
* Octomap Server,
* Octomap Planner,
* Octomap RVIZ Visualizer,
* Nodelet manager.

Please, use provided arguments and custom config files to customize the behaviour of the nodes.