学习笔记：使用Octomap将点云地图pcd转换为三维栅格地图，并在rviz中可视化

ハナミズキ849

已于 2024-07-22 13:38:39 修改

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文章标签：无人机笔记学习

于 2024-07-19 12:11:17 首次发布

本文链接：https://blog.csdn.net/Hanamizukimr/article/details/140545091

版权

一、在工作空间src中放入以下两个功能包

octomap_mapping

octomap_server

github地址：

GitHub - OctoMap/octomap_mapping: ROS stack for mapping with OctoMap, contains octomap_server package

二、创建功能包，发布点云话题

cd src
catkin_create_pkg point_publish std_msgs roscpp

src下创建cpp文件pointcloud_publisher.cpp

#include <iostream>
#include <string>
#include <stdlib.h>
#include <stdio.h>
#include <sstream>
#include <vector>
 
#include <ros/ros.h>  
#include <pcl/point_cloud.h>  
#include <pcl_conversions/pcl_conversions.h>  
#include <sensor_msgs/PointCloud2.h>  
#include <pcl/io/pcd_io.h>
 
#include <octomap_msgs/OctomapWithPose.h>
#include <octomap_msgs/Octomap.h>
#include <geometry_msgs/Pose.h>
 
#include <octomap/octomap.h>
#include <octomap_msgs/Octomap.h>
#include <octomap_msgs/conversions.h>
 
#include <geometry_msgs/TransformStamped.h>
 
#define TESTCLOUDPOINTS 1  // 设置为 1 以测试点云发布，设置为 0 不测试
#define TESTOCTOTREE 0     // 设置为 1 以测试OctoMap发布，设置为 0 不测试

int main (int argc, char **argv)  
{  
    std::string topic, path, frame_id;
    int hz = 5;  // 发布频率，单位 Hz
 
    ros::init(argc, argv, "publish_pointcloud");  // 初始化ROS节点
    ros::NodeHandle nh;  // 创建节点句柄
 
    // 从参数服务器获取参数
    nh.param<std::string>("path", path, "/home/alan/state_ws/0.pcd");
    nh.param<std::string>("frame_id", frame_id, "map");
    nh.param<std::string>("topic", topic, "pointcloud_topic");
    nh.param<int>("hz", hz, 5);
 
    // 加载点云数据到pcl::PointCloud对象中
    pcl::PointCloud<pcl::PointXYZ> pcl_cloud; 
    pcl::io::loadPCDFile(path, pcl_cloud);  // 从文件加载点云数据
 
#if TESTCLOUDPOINTS  // 如果 TESTCLOUDPOINTS 定义为 1，则执行这部分代码
    ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2>(topic, 10);  // 创建Publisher对象，将点云数据发布到指定话题
 
    // 转换PCL点云到ROS下的 PointCloud2 类型
    sensor_msgs::PointCloud2 output;  
    pcl::toROSMsg(pcl_cloud, output);
 
    output.header.stamp = ros::Time::now();  // 设置时间戳
    output.header.frame_id = frame_id;  // 设置坐标系框架
 
    // 打印参数信息
    std::cout << "path = " << path << std::endl;
    std::cout << "frame_id = " << frame_id << std::endl;
    std::cout << "topic = " << topic << std::endl;
    std::cout << "hz = " << hz << std::endl;
 
    ros::Rate loop_rate(hz);  // 设置发布频率  
    while (ros::ok())  
    {  
        pcl_pub.publish(output);  // 发布 PointCloud2 数据
        ros::spinOnce();  // 处理所有回调函数
        loop_rate.sleep();  // 按照指定频率睡眠
    }
#endif
 
#if TESTOCTOTREE  // 如果 TESTOCTOTREE 定义为 1，则执行这部分代码
    ros::Publisher octomap_pub = nh.advertise<octomap_msgs::Octomap>(topic, 1);  // 创建Publisher对象，将OctoMap数据发布到指定话题
 
    // 创建 octomap 对象，并设置其分辨率
    octomap::OcTree tree(0.1);  // 你可以根据需要调整分辨率
 
    // 将点云数据插入到 octomap 中
    for (const auto& point : pcl_cloud.points) {
        tree.updateNode(point.x, point.y, point.z, true);
    }
 
    // 发布OctoMap消息
    octomap_msgs::Octomap octomap_msg;
    octomap_msgs::fullMapToMsg(tree, octomap_msg);  // 转换为 OctoMap 消息
 
    // 设置 OctoMap 消息的头信息
    octomap_msg.header.stamp = ros::Time::now();
    octomap_msg.header.frame_id = frame_id;
 
    // 打印参数信息
    std::cout << "path = " << path << std::endl;
    std::cout << "frame_id = " << frame_id << std::endl;
    std::cout << "topic = " << topic << std::endl;
    std::cout << "hz = " << hz << std::endl;
 
    ros::Rate loop_rate(hz);  // 设置发布频率  
    while (ros::ok())  
    {  
        octomap_pub.publish(octomap_msg);  // 发布 OctoMap 数据
        ros::spinOnce();  // 处理所有回调函数
        loop_rate.sleep();  // 按照指定频率睡眠
    }
#endif
 
    return 0;  // 主函数返回值
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(pointcloud_publish)
 
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
 
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages

set(octomap_ros_DIR "/opt/ros/noetic/share/octomap_ros/cmake")

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  sensor_msgs
  octomap_msgs
  geometry_msgs
  octomap_ros
)
find_package(PCL REQUIRED)
find_package(octomap REQUIRED)
 
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
 
 
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
 
################################################
## Declare ROS messages, services and actions ##
################################################
 
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )
 
## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )
 
## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )
 
## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )
 
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
 
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed
 
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )
 
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES my_pkg
#  CATKIN_DEPENDS roscpp std_msgs
#  DEPENDS system_lib
)
 
###########
## Build ##
###########
 
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${OCTOMAP_INCLUDE_DIRS}
)
 
## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/my_pkg.cpp
# )
 
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(publish_pointcloud src/pointcloud_publisher.cpp)
 
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
 
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
## Specify libraries to link a library or executable target against
target_link_libraries(publish_pointcloud
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${OCTOMAP_LIBRARIES}
)
 
#############
## Install ##
#############
 
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
 
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
 
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
 
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )
 
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
 
#############
## Testing ##
#############
 
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_pkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
 
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

修改cpp文件：

#define TESTCLOUDPOINTS 1  // 设置为 1 以测试点云发布，设置为 0 不测试
#define TESTOCTOTREE 0     // 设置为 1 以测试OctoMap发布，设置为 0 不测试

设置坐标系frame_id和topic：

  nh.param<std::string>("path", path, "/home/alan/state_ws/0.pcd");
  nh.param<std::string>("frame_id", frame_id, "map");
  nh.param<std::string>("topic", topic, "pointcloud_topic");
  nh.param<int>("hz", hz, 5);

编译：

cd 工作空间
catkin_make

三、编写launch文件，启动octomap_server

octomap_server.launch

<launch>
  <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
 
    <!-- resolution in meters per pixel -->
    <param name="resolution" value="0.2" />
 
    <!-- name of the fixed frame, needs to be "/map" for SLAM -->
    <param name="frame_id" type="string" value="map" />
 
    <!-- max range / depth resolution of the kinect in meter -->
    <param name="sensor_model/max_range" value="100.0" />
    <param name="latch" value="true" />
 
    <!-- max/min height for occupancy map, should be in meters -->
    <param name="pointcloud_max_z" value="1000" />
    <param name="pointcloud_min_z" value="0" />
 
    <!-- topic from where pointcloud2 messages are subscribed -->
    <remap from="/cloud_in" to="pointcloud_topic" />
 
  </node>
</launch>

四、启动

roscore
rosrun pointcloud_publish publish_pointcloud
roslaunch octomap_server octomap_server.launch
rviz

五、在rviz中安装octomap插件

sudo apt-get install ros-indigo-octomap-rviz-plugins

在rviz中修改Fixed Frame 为之前设置的坐标系map

点Add添加OccupancyGrid，订阅/octomap_full话题

若Add后rviz闪退，则更新软件包

sudo apt update
sudo apt upgrate

结果：

参考文章：

点云cloudpoint生成octomap的OcTree的两种方法以及rviz可视化_octomaprealtimeshow-CSDN博客

Octomap 在ROS环境下实时显示_octomap在ros环境下实时显示-飞天熊猫-CSDN博客