The OctoMap library implements a 3D occupancy grid mapping approach. This guide covers the how to use it with Rotors Simulator.
The installation requires to install ROS, Gazebo and the Rotors Simulator plugin. Follow the instructions on Rotors Simulator to install.
Next, install The OctoMap library
```sh sudo apt-get install ros-indigo-octomap ros-indigo-octomap-mapping rosdep install octomap_mapping rosmake octomap_mapping ```Now, open ~/catkin_ws/src/rotors_simulator/rotors_gazebo/CMakeLists.txt and add the following lines to the bottom of the file
```sh find_package(octomap REQUIRED) include_directories(${OCTOMAP_INCLUDE_DIRS}) link_libraries(${OCTOMAP_LIBRARIES}) ```Open ~/catkin_ws/src/rotors_simulator/rotors_gazebo/package.xml and add the following lines
```sh octomap octomap ```Run the following two lines.
The first line changes your default shell editor (which is vim by default) to gedit. This is recommended for users who have little experience with vim, but can otherwise be omitted. ```sh export EDITOR='gedit' rosed octomap_server octomap_tracking_server.launch ``` and change the two following lines ```sh ... ``` to ```sh ... ```Now run the three following lines, in three separate terminal windows. This opens up Gazebo, Rviz and an octomap server.
```sh roslaunch rotors_gazebo mav_hovering_example_with_vi_sensor.launch mav_name:=firefly rviz roslaunch octomap_server octomap_tracking_server.launch ```In Rviz, change the field 'Fixed Frame' from 'map' to 'world' in the top left of the window. Now click the add button in the bottom left and select MarkerArray. Then double click the MarkerArray and change 'Marker Topic' from '/free_cells_vis_array' to '/occupied_cells_vis_array'
Now you should see a part of the floor.
In the Gazebo window, insert a cube in front of the red rotors and you should see it in Rviz.
