Octomap generation

[Amit10311]

Thank you for this great package for simulating MAV. I am running Ubuntu 16.04 with ROS kinetic and Gazebo9. The simulator is working perfectly. I have added a plugin of octomap in my .world file but the service is not activated.

I look forward to hearing from you. Thank you for your valuable time.

[welcome]

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

[gsilano]

Hi! When you say that the Octomap plugin is not working, you are referring to this guide. Am I right?

[Amit10311]

Hello, Yes I am referring the link mentioned in the wiki .

[gsilano]

Sorry for the late reply. I got the issue and updated the instructions in the Wiki. Currently, the Octomap plugin only works with Gazebo 7 and Ubuntu 16.04. I'm working to make it compatible with Gazebo 9 too.

[Amit10311]

Thanks for the updates, can you please tell me estimate days to prepare plugins for gazebo9.
And I have one more question, is it possible to attach the given lidar to the drone and make navigation.

[gsilano]

What do you mean "estimated days to prepare plugins for Gazebo9"? Yes, it is possible to equip the Crazyflie with a LiDAR. You could follow the code I used to attach a VI sensor to the Crazyflie 2.0 nano-quadrotor.

[Amit10311]

Thanks again for the LIDAR info. I meant before, as you're working on octomap plugins, so it will be available soon, I know it usually takes time.

[gsilano]

Yes, of course. It takes time. In the meantime, I could provide you a workaround solution. I mean, Octomap and RVIZ that work together for generating a 3D map of the environment. Let me know if this is ok with you.

[Amit10311]

Yes, it will be ok for me, please provide the solution.

[gsilano]

I just added a simple scenario for the Crazyflie with Octomap. It is available in crazyflie2_octomap.launch. Before using it, run the command sudo apt-get install ros-$ROS_DISTRO-octomap-mapping where $ROS_DISTRO is your ROS distro, i.e., kinetic, melodic.

The Crazyflie model is missing in RVIZ, but at the moment I don't think it's necessary. However, I will add it soon.

[gsilano]

Hi @Amit10311 ! Did my question solve the issue? If so, I will close the issue. However, I suggest you take a look at this repository. It might help you in generating an Octomap scenario.

[Amit10311]

Hi @gsilano ! Yes, it solved the issue. Thanks for the suggestion, it's also a good and quick solution. Yes, you can close the issue. Thanks for the quick solutions.