challenhb/octoslam

OctoSlam

OctoSlam

OctoSlam classes:

octoslam's Issues

How to lunch the program

Hello,
I'm a new ROSer, so can you guide me lunch this program. Thank you very much. I hope see your tutorial soon.

Update

Hello,

I am just wondering if this package is still being worked on or if it abandoned.

rosdep install misses some dependencies?

after cloning and rosdep install'ing, it appears that there are still some missing dependencies?

$ catkin_make

In file included from /home/dereck/Dropbox/ros/hydro/catkin/src/OctoSlam/src/OctoSlamCalcs.cpp:1:0:
/home/dereck/Dropbox/ros/hydro/catkin/src/OctoSlam/src/OctoSlamCalcs.h:4:23: fatal error: Eigen/Dense: No such file or directory
compilation terminated.
In file included from /home/dereck/Dropbox/ros/hydro/catkin/src/OctoSlam/src/transformScan.cpp:2:0:
/home/dereck/Dropbox/ros/hydro/catkin/src/OctoSlam/src/OctoSlamCalcs.h:4:23: fatal error: Eigen/Dense: No such file or directory
compilation terminated.
In file included from /home/dereck/Dropbox/ros/hydro/catkin/src/OctoSlam/src/roundVoxel.cpp:1:0:
/home/dereck/Dropbox/ros/hydro/catkin/src/OctoSlam/src/OctoSlamCalcs.h:4:23: fatal error: Eigen/Dense: No such file or directory
compilation terminated.
make[2]: *** [OctoSlam/CMakeFiles/OctoSlam.dir/src/transformScan.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [OctoSlam/CMakeFiles/OctoSlam.dir/src/OctoSlamCalcs.cpp.o] Error 1
make[2]: *** [OctoSlam/CMakeFiles/OctoSlam.dir/src/roundVoxel.cpp.o] Error 1
In file included from /home/dereck/Dropbox/ros/hydro/catkin/src/OctoSlam/src/Localization.cpp:2:0:
/home/dereck/Dropbox/ros/hydro/catkin/src/OctoSlam/src/OctoSlamCalcs.h:4:23: fatal error: Eigen/Dense: No such file or directory

This package does not appear to function?

After getting the launch file to work, it appears that the OctoSlam node doesn't use it at all! ;)

First, the OctoSLAM node subscribes to a laserscan topic, but doesn't publish anything at all.

Second, it crashes immediately once fed with a laserscan topic:
ERROR: Error in search: [(-5.2293 -7.46821 0)] is out of OcTree bounds!
ERROR: Error in search: [(-nan -nan -nan)] is out of OcTree bounds!
Segmentation fault

After looking the git repo history, it would appear that this not the same software that was used in OctoSLAM: A 3D Mapping Approach to Situational Awareness of Unmanned Aerial Vehicles. I wish you luck in finishing this package, it looks promising!

Missing runtime dependency: mapping_3D/scan_to_cloud

Doesn't appear to be a standard ROS package.

$roslaunch octoslam build_map.launch

ERROR: cannot launch node of type [mapping_3D/scan_to_cloud]: mapping_3D