继续，由surfelmapping建立的点云生成octomap八叉树栅格地图

 

一、安装OctomapServer 建图包

安装插件

sudo apt-get install ros-melodic-octomap-ros 
sudo apt-get install ros-melodic-octomap-msgs
sudo apt-get install ros-melodic-octomap-server
sudo apt-get install ros-melodic-octomap-rviz-plugins

编译OctomapServer 建图包 

cd ~/catkin_ws/src
git clone https://github.com/OctoMap/octomap_mapping.git
cd ..
catkin_make

但是我们通过点云转octomap需要的是pointcloud2类型，所以我们需要先把pointcloud转换为pointcloud2，源码地址如下：源码

cd ~/catkin_ws/src
git clone https://github.com/1332927388/pcl2octomap.git
cd ..
catkin_make

将point_cloud_converter.launch的内容改为以下：

<launch><node pkg="point_cloud_converter" name="point_cloud_converter" type="point_cloud_converter_node" ><remap from="points_in" to="/vins_estimator/point_cloud"/><remap from="points2_out" to="/points" /></node>
</launch>

修改octomap_server/launch中的octomap_mapping.launch中的point ，将两个文件写在一起，修改后如下：

<launch><node pkg="point_cloud_converter" name="point_cloud_converter" type="point_cloud_converter_node" ><remap from="points_in" to="/vins_estimator/point_cloud"/><remap from="points2_out" to="/points" /></node><node pkg="octomap_server" type="octomap_server_node" name="octomap_server"><param name="resolution" value="0.05" /><!-- fixed map frame (set to 'map' if SLAM or localization running!) --><param name="frame_id" type="string" value="world" /><!-- maximum range to integrate (speedup!) --><param name="sensor_model/max_range" value="5.0" /><!-- data source to integrate (PointCloud2) --><remap from="cloud_in" to="/surfel_fusion/rgb_pointcloud" /></node>
</launch>

二、开始运行

启动相机：

roslaunch realsense2_camera stereo-imu.launch

开启跟踪节点：

rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml

开启闭环：

rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml

启动 Surfel Fusion

roslaunch surfel_fusion vins_realsense.launch

启动八叉树建图

roslaunch octomap_server octomap_mapping.launch

在rviz中添加occupancygrid，并选择/octomap_full话题，即可看到八叉树地图，如下：

 

三、最终建图效果