octomap_edt_server

Written by JBS.

Installation

Depends on my git fork of dynamicEDT3D

sudo apt-get install ros-melodic-octomap-ros
git clone https://github.com/icsl-Jeon/octomap.git
cd dynamicEDT3D && mkdir build && cd build && cmake ..
sudo make install

Build this package

https://github.com/icsl-Jeon/octomap_mapping.git
catkin build octomap_server 

Out-of-box launch for octomap_edt_server

Download bag_file (2.9GB) and set correct path to it here:

<arg name="bag_file" value=""/>

Then launch the file:

roslaunch octomap_server octomap_edt_server.launch

Features

• DynamicEDTServer : incrementally build EDF (note NOT ESDF) using dynamicEDT3D
• Real-time analysis on your terminal as below pretty table:
• All parameterization to cater your usages.

**********************************************************************
cloud callback                                                        
**********************************************************************
proc.                     pnts      time [ms]
octomap           252672 (raw)         111 ms
edt               23906 (upd.)          26 ms
edt. vis           298 (query)           1 ms
======================================================================

• EDF visualization

Wiki

EDF from dynamicEDT3D

• getDistance : if query is out of fixed bound of EDT, -1 is returned.