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Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms. The map implementation is based on an octree.
This package contains the latest release from the OctoMap repository, providing a convenient way to download and compile the library in a way that can be managed by the ROS dependency system.
More details are available at http://octomap.sourceforge.net/.
- Author: Kai M. Wurm and Armin Hornung
- License: BSD
- Repository: alufr-ros-pkg
- Source: svn https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/octomap_mapping/octomap_mapping-0.3.4
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms. The map implementation is based on an octree.
This package contains the latest release from the OctoMap repository, providing a convenient way to download and compile the library in a way that can be managed by the ROS dependency system.
More details are available at http://octomap.sourceforge.net/.
- Author: Kai M. Wurm and Armin Hornung
- License: BSD
- Source: svn https://alufr-ros-pkg.googlecode.com/svn/branches/octomap_mapping-electric
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms. The map implementation is based on an octree.
Deprecated. This package now forwards octomap pkgconfig flags through the manifest, do not depend on this feature. Instead use cmake's find_package infrastructure for the octomap package.
More details are available at http://octomap.sourceforge.net/.
- Author: Kai M. Wurm and Armin Hornung
- License: BSD
- Source: svn http://alufr-ros-pkg.googlecode.com/svn/trunk/octomap_stacks/octomap_mapping
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.sf.net for details.
- Maintainer: Armin Hornung <hornunga AT informatik.uni-freiburg DOT de>
- Author: Kai M. Wurm <wurm AT informatik.uni-freiburg DOT de>, Armin Hornung <hornunga AT informatik.uni-freiburg DOT de>
- License: BSD
- External website: http://octomap.github.com
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.github.io for details.
- Maintainer status: developed
- Maintainer: Armin Hornung <hornunga AT informatik.uni-freiburg DOT de>
- Author: Kai M. Wurm <wurm AT informatik.uni-freiburg DOT de>, Armin Hornung <hornunga AT informatik.uni-freiburg DOT de>
- License: BSD
- External website: http://octomap.github.io
- Bug / feature tracker: https://github.com/OctoMap/octomap/issues
- Source: git https://github.com/OctoMap/octomap.git (branch: v1.6.4)
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.github.io for details.
- Maintainer status: developed
- Maintainer: Armin Hornung <hornunga AT informatik.uni-freiburg DOT de>
- Author: Kai M. Wurm <wurm AT informatik.uni-freiburg DOT de>, Armin Hornung <hornunga AT informatik.uni-freiburg DOT de>
- License: BSD
- External website: http://octomap.github.io
- Bug / feature tracker: https://github.com/OctoMap/octomap/issues
- Source: git https://github.com/OctoMap/octomap.git (branch: v1.6.4)
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.github.io for details.
- Maintainer status: maintained
- Maintainer: Armin Hornung <hornunga AT informatik.uni-freiburg DOT de>
- Author: Kai M. Wurm <wurm AT informatik.uni-freiburg DOT de>, Armin Hornung <hornunga AT informatik.uni-freiburg DOT de>
- License: BSD
- External website: http://octomap.github.io
- Bug / feature tracker: https://github.com/OctoMap/octomap/issues
- Source: git https://github.com/OctoMap/octomap.git (branch: v1.6.8)
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.github.io for details.
- Maintainer status: developed
- Maintainer: Armin Hornung <armin AT hornung DOT io>
- Author: Kai M. Wurm <wurm AT informatik.uni-freiburg DOT de>, Armin Hornung <armin AT hornung DOT io>
- License: BSD
- External website: http://octomap.github.io
- Bug / feature tracker: https://github.com/OctoMap/octomap/issues
- Source: git https://github.com/OctoMap/octomap.git (branch: v1.7.1)
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.github.io for details.
- Maintainer status: developed (Prerelease based on version 1.8.0. The final version for ROS Lunar will (1.9.0))
- Maintainer: Armin Hornung <armin AT hornung DOT io>
- Author: Kai M. Wurm <wurm AT informatik.uni-freiburg DOT de>, Armin Hornung <armin AT hornung DOT io>
- License: BSD
- External website: http://octomap.github.io
- Bug / feature tracker: https://github.com/OctoMap/octomap/issues
- Source: git https://github.com/OctoMap/octomap.git (branch: v1.8.0)
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.github.io for details.
- Maintainer status: maintained
- Maintainer: Armin Hornung <armin AT hornung DOT io>
- Author: Kai M. Wurm <wurm AT informatik.uni-freiburg DOT de>, Armin Hornung <armin AT hornung DOT io>
- License: BSD
- External website: http://octomap.github.io
- Bug / feature tracker: https://github.com/OctoMap/octomap/issues
- Source: git https://github.com/OctoMap/octomap.git (branch: v1.9.0)
Package Summary
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See http://octomap.github.io for details.
- Maintainer status: maintained
- Maintainer: Armin Hornung <armin AT hornung DOT io>, Wolfgang Merkt <opensource AT wolfgangmerkt DOT com>
- Author: Kai M. Wurm <wurm AT informatik.uni-freiburg DOT de>, Armin Hornung <armin AT hornung DOT io>
- License: BSD
- External website: http://octomap.github.io
- Bug / feature tracker: https://github.com/OctoMap/octomap/issues
- Source: git https://github.com/OctoMap/octomap.git (branch: devel)
Contents
Documentation
General information about OctoMap is available at http://octomap.github.io and in the publication "OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees" by A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard (Autonomous Robots Journal, 2013).
BibTeX:
@ARTICLE{hornung13auro,
author = {Armin Hornung and Kai M. Wurm and Maren Bennewitz and Cyrill
Stachniss and Wolfram Burgard},
title = {{OctoMap}: An Efficient Probabilistic {3D} Mapping Framework Based
on Octrees},
journal = {Autonomous Robots},
year = 2013,
url = {http://octomap.github.com},
doi = {10.1007/s10514-012-9321-0},
note = {Software available at \url{http://octomap.github.com}}
}Please cite our paper if you use OctoMap in your research.
Doxygen documentation based on the latest OctoMap release is available online.
Up to ROS electric, the octomap package contained in the octomap_mapping stack provides the OctoMap library by downloading a released tarball. Since fuerte, this was replaced with a regular library (see the other version tabs at the top of the page).
If you want to use OctoMap in ROS, octomap_ros and octomap_msgs provide messages, wrappers and conversion methods. octomap_server provides map building and serving capabilities. A visualization tool is available at octovis.
Using OctoMap
Run
sudo apt-get install ros-$ROS_DISTRO-octomap
to install OctoMap as stand-alone libraries with no ROS dependencies (so the package can also be used in a non-ROS setting).
This means that you compile against OctoMap without requiring any ROS-specific build tools or catkin macros (in fact, they won't work). For convenience, the system install includes CMake config files for easily finding and configuring OctoMap in your CMakeLists.txt using the regular find_package() macro:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
target_link_libraries(${OCTOMAP_LIBRARIES})(Add link_directories(${OCTOMAP_LIBRARY_DIRS}) only if required - usually it's not needed).
Finally, add to your package.xml:
<build_depend>octomap</build_depend> <run_depend>octomap</run_depend>
Finally, add <rosdep name="octomap" /> to stack.xml
Report a Bug
Report bugs or request features on GitHub. For questions and discussions, use the mailing list at http://groups.google.com/group/octomap
