Octomap plugin for Gazebo. More...

Public Member Functions
	OctomapFromGazeboWorld ()
virtual	~OctomapFromGazeboWorld ()
Protected Member Functions
bool	CheckIfInterest (const ignition::math::Vector3d &central_point, gazebo::physics::RayShapePtr ray, const double leaf_size)
void	CreateOctomap (const rotors_comm::Octomap::Request &msg)
	Creates octomap by floodfilling freespace.
void	FloodFill (const ignition::math::Vector3d &seed_point, const ignition::math::Vector3d &bounding_box_origin, const ignition::math::Vector3d &bounding_box_lengths, const double leaf_size)
void	Load (physics::WorldPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin.
Private Member Functions
bool	ServiceCallback (rotors_comm::Octomap::Request &req, rotors_comm::Octomap::Response &res)
Private Attributes
ros::NodeHandle	node_handle_
octomap::OcTree *	octomap_
ros::Publisher	octomap_publisher_
ros::ServiceServer	srv_
physics::WorldPtr	world_

Detailed Description

Octomap plugin for Gazebo.

This plugin is dependent on ROS, and is not built if NO_ROS=TRUE is provided to CMakeLists.txt. The PX4/Firmware build does not build this file.

Definition at line 43 of file gazebo_octomap_plugin.h.

Constructor & Destructor Documentation

gazebo::OctomapFromGazeboWorld::OctomapFromGazeboWorld ( ) [inline]

Definition at line 45 of file gazebo_octomap_plugin.h.

gazebo::OctomapFromGazeboWorld::~OctomapFromGazeboWorld ( ) [virtual]

Definition at line 30 of file gazebo_octomap_plugin.cpp.

bool gazebo::OctomapFromGazeboWorld::CheckIfInterest	(	const ignition::math::Vector3d &	central_point,
		gazebo::physics::RayShapePtr	ray,
		const double	leaf_size
	)		`[protected]`

Definition at line 135 of file gazebo_octomap_plugin.cpp.

void gazebo::OctomapFromGazeboWorld::CreateOctomap ( const rotors_comm::Octomap::Request & msg ) [protected]

Creates octomap by floodfilling freespace.

Creates an octomap of the environment in 3 steps:

Casts rays along the central X,Y and Z axis of each cell. Marks any cell where a ray intersects a mesh as occupied
Floodfills the area from the top and bottom marking all connected space that has not been set to occupied as free.
Labels all remaining unknown space as occupied.

Can give incorrect results in the following situations:

The top central cell or bottom central cell are either occupied or completely enclosed by occupied cells.
A completely enclosed hollow space will be marked as occupied.
Cells containing a mesh that does not intersect its central axes will be marked as unoccupied

Definition at line 172 of file gazebo_octomap_plugin.cpp.

void gazebo::OctomapFromGazeboWorld::FloodFill	(	const ignition::math::Vector3d &	seed_point,
		const ignition::math::Vector3d &	bounding_box_origin,
		const ignition::math::Vector3d &	bounding_box_lengths,
		const double	leaf_size
	)		`[protected]`