下载源码
https://github.com/HKUST-Aerial-Robotics/open_quadtree_mapping
解压
修改包内CMakeLists文件11.12行的capablity 为50(Quadro k620)(显卡的计算能力可到wiki百科上查看)
整个包复制到 quadtree/src内
cd quadtre
catkin_make
下载运行数据(需要翻墙)open_quadtree_mapping.bag(改名为example.bag,不该也行)
https://www.dropbox.com/s/xuae1kxuulcf11z/open_quadtree_mapping.bag?dl=0
terminal1:roscore
terminal2:cd quadtree
source devel/setup.bash
roslaunch open_quadtree_mapping example.launch
terminal3:topic list(查看topic)
topic type topic名(查看topic的type)
terminal4:rosrun rviz rviz
左下add按钮选择topic type(image)
左侧display框内选之前新建的image
设置image topic选项为所需topic
terminal5:cd到example.bag的位置
rosbag play example.bag
rviz中可以观测到输出