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82 lines
3.0 KiB
Markdown
82 lines
3.0 KiB
Markdown
# 3D Моделі OctoMap з ROS/Gazebo Classic
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The [OctoMap library](https://octomap.github.io/) is an open source library for generating volumetric 3D environment models from sensor data.
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Дані цієї моделі потім можуть використовуватись дроном для навігації та уникнення перешкод.
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This guide covers how to use _OctoMap_ with the [Gazebo Classic](../sim_gazebo_classic/index.md) [Rotors Simulator](https://github.com/ethz-asl/rotors_simulator/wiki/RotorS-Simulator) and ROS.
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## Встановлення
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The installation requires ROS, [Gazebo Classic](../sim_gazebo_classic/index.md) and the Rotors Simulator plugin.
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Follow the [Rotors Simulator instructions](https://github.com/ethz-asl/rotors_simulator) to install.
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Next, install the _OctoMap_ library:
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```sh
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sudo apt-get install ros-indigo-octomap ros-indigo-octomap-mapping
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rosdep install octomap_mapping
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rosmake octomap_mapping
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```
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Now, open `~/catkin_ws/src/rotors_simulator/rotors_gazebo/CMakeLists.txt` and add the following lines to the bottom of the file:
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```sh
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find_package(octomap REQUIRED)
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include_directories(${OCTOMAP_INCLUDE_DIRS})
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link_libraries(${OCTOMAP_LIBRARIES})
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```
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Open `~/catkin_ws/src/rotors_simulator/rotors_gazebo/package.xml` and add the following lines:
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```xml
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<build_depend>octomap</build_depend>
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<run_depend>octomap</run_depend>
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```
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Виконайте наступні два рядки:
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:::info
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The first line changes your default shell editor to _gedit_. This is recommended for users who have little experience with _vim_ (the default editor), but can otherwise be omitted.
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:::
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```sh
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export EDITOR='gedit'
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rosed octomap_server octomap_tracking_server.launch
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```
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та змінити наступні два рядки:
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```xml
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<param name="frame_id" type="string" value="map" />
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...
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<!--remap from="cloud_in" to="/rgbdslam/batch_clouds" /-->
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```
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на:
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```xml
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<param name="frame_id" type="string" value="world" />
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...
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<remap from="cloud_in" to="/firefly/vi_sensor/camera_depth/depth/points" />
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```
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## Запуск симуляції
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Run the following three lines in _separate_ terminal windows.
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This opens up [Gazebo Classic](../sim_gazebo_classic/index.md), _Rviz_ and an octomap server.
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```sh
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roslaunch rotors_gazebo mav_hovering_example_with_vi_sensor.launch mav_name:=firefly
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rviz
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roslaunch octomap_server octomap_tracking_server.launch
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```
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In _Rviz_, change the field 'Fixed Frame' from 'map' to 'world' in the top left of the window.
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Тепер натисніть кнопку "Додати" в нижньому лівому куті та оберіть MarkerArray. Then double click the MarkerArray and change 'Marker Topic' from `/free_cells_vis_array` to `/occupied_cells_vis_array`.
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Тепер ви повинні побачити частину підлоги.
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In the _Gazebo Classic_ window, insert a cube in front of the red rotors and you should see it in _Rviz_.
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