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python-octomap-2d

The python-octomap-2d project is a ROS2-based module for generating and managing octomaps, which are 2D occupancy grids used for robotic navigation.

The node subscribes to a point cloud, looks up the sensor origin via TF, integrates the scan into a 2D log-odds grid, and publishes two maps:

  • Binary grid (-1 unknown / 0 free / 100 occupied)
  • Probability grid (-1 unknown, else 0..100)

Implemented features

  • Log-odds updates with global clamping & occupancy threshold
  • Occlusion-aware free-space carving (first-hit stopping, optional occluder clearing)
  • Angle binning (closest point per bearing) for efficient ray stops
  • Dynamic canvas growth around the explored area
  • Preprocessing: Z-band, range/FOV filters, density outlier removal

Topics

  • Subscribes: sensor_msgs/PointCloud2 on io.input_topic (see config)
  • Publishes:
    • Binary grid on io.output_topic (e.g., /projected_map)
    • Probability grid on io.output_prob_topic (e.g., /projected_map_prob)

Key Components

  • config/configs.yaml: Configuration file for octomap parameters.
  • src/: Contains Python scripts for octomap generation and processing:
    • msg_converter.py: Handles message conversions.
    • octomap_node.py: ROS 2 node (TF lookup, subscribers/publishers, timing)
    • octomap2d.py: core 2D mapper (log-odds + raycasting, dynamic growth)
    • preprocessor.py: Preprocesses data for octomap generation.
    • docker/ + docker-compose.yml — containerized runtime

Getting Started

Build the Docker Image

To build the Docker image for the octomap_ros2 service, run:

docker-compose build

Run the Octomap Node

To start the octomap_ros2 service, use:

docker-compose up

This will launch the octomap_node.py script inside the container.

Configuration

Modify the config/configs.yaml file to adjust octomap parameters as needed.