Update

.gitignore

@@ -1,5 +1,6 @@
-.idea
 build
 cmake-build-*
 
 .DS_Store
+.idea
+.vscode

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.0.2)
 project(easondrone_mapping)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++14")
+set(CMAKE_CXX_FLAGS "-std=c++17")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 set(PYTHON_EXECUTABLE "/usr/bin/python3.8")
 
@@ -19,8 +19,8 @@ find_package(catkin REQUIRED COMPONENTS
 	   sensor_msgs
 	   geometry_msgs
 	   nav_msgs
-       visualization_msgs
-	   easondrone_msgs
+	   tf2_ros
+	   tf2_sensor_msgs
 	)
 
 catkin_package(
@@ -41,19 +41,8 @@ include_directories(
 link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 
-add_executable(uav_octomapping
-		src/octomap/octomapping_node.cpp
-        src/octomap/octomapping.cpp
-		src/octomap/occupy_map.cpp
-)
-target_link_libraries(uav_octomapping
-       ${catkin_LIBRARIES}
-	   ${PCL_LIBRARIES}
-		${OCTOMAP_LIBRARIES}
-)
-
-add_executable(pcl_merge src/merge_pcl/pcl_merge.cpp)
-target_link_libraries(pcl_merge
+add_executable(merge_pcl src/merge_pcl/merge_pcl.cpp)
+target_link_libraries(merge_pcl
 		${catkin_LIBRARIES}
 		${PCL_LIBRARIES}
 )

README.md

@@ -2,7 +2,7 @@
 
 ![HitCount](https://img.shields.io/endpoint?url=https%3A%2F%2Fhits.dwyl.com%2FHuaYuXiao%2FEasonDrone_Mapping.json%3Fcolor%3Dpink)
 ![Static Badge](https://img.shields.io/badge/ROS-melodic-22314E?logo=ros)
-![Static Badge](https://img.shields.io/badge/C%2B%2B-14-00599C?logo=cplusplus)
+![Static Badge](https://img.shields.io/badge/C%2B%2B-17-00599C?logo=cplusplus)
 ![Static Badge](https://img.shields.io/badge/Python-3.8.10-3776AB?logo=python)
 ![Static Badge](https://img.shields.io/badge/Ubuntu-18.04.6-E95420?logo=ubuntu)
 
@@ -11,8 +11,8 @@ A ROS package for mapping via octomap.
 ## Installation
 
 ```bash
-cd ~/EasonDrone
-catkin_make --source Reconstruction/easondrone_mapping --build Reconstruction/easondrone_mapping/build
+git clone https://github.com/HuaYuXiao/easondrone_mapping.git ~/easondrone_ws/reconstruct/easondrone_mapping
+cd ~/easondrone_ws && catkin_make install --source reconstruct/easondrone_mapping --build reconstruct/easondrone_mapping/build
 ```
 
 ## 转发点云
@@ -37,7 +37,7 @@ roslaunch easondrone_mapping simulation.launch
 控制无人机完成建图后，用以下指令保存.ot（或者.bt，相较于.ot体积更小）格式的地图文件
 
 ```bash
-rosrun octomap_server octomap_saver -f ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.ot
+rosrun octomap_server octomap_saver -f ~/easondrone_ws/reconstruct/easondrone_mapping/map.ot
 ```
 
 ![image](doc/log/2024-03-11/%E6%97%A0%E6%A0%87%E9%A2%98.png)
@@ -55,16 +55,16 @@ rosrun octomap_server octomap_saver -f ~/EasonDrone/Reconstruction/EasonDrone_Ma
 也可以借助`octovis`工具查看
 
 ```bash
-octovis ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.bt
+octovis ~/easondrone_ws/reconstruct/easondrone_mapping/map.bt
 ```
 
 ### 方法2：rviz
 
 一种方法是在`rviz`中查看
 
 ```bash
-rosrun rviz rviz
-rosrun octomap_server octomap_server_node ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.bt
+rviz
+rosrun octomap_server octomap_server_node ~/easondrone_ws/reconstruct/easondrone_mapping/map.bt
 ```
 
 添加`OccupancyGrid`，话题选择`/octomap_binary`，
@@ -80,9 +80,3 @@ rosrun octomap_server octomap_server_node ~/EasonDrone/Reconstruction/EasonDrone
 参考：
 - ⭐ [how to use octomap_server?](https://answers.ros.org/question/361841/how-to-use-octomap_server/)
 - ⭐ [OctoMap/octomap_mapping](https://github.com/OctoMap/octomap_mapping/blob/kinetic-devel/octomap_server/launch/octomap_tracking_server.launch)
-
-## Acknowledgement
-
-Thanks for following packages:
-
-- [global_planning](https://github.com/amov-lab/Prometheus/Modules/planning/global_planning)

config/rviz_config.rviz → config/easondrone.rviz

@@ -6,7 +6,7 @@ Panels:
       Expanded:
         - /State1
         - /Sensor1
-        - /Sensor1/RGBD1
+        - /Sensor1/realsense_d435i1
         - /Mapping1
       Splitter Ratio: 0.43611112236976624
     Tree Height: 786
@@ -64,6 +64,8 @@ Visualization Manager:
           Value: true
         base_link_frd:
           Value: false
+        laser_livox:
+          Value: true
         map:
           Value: false
         map_ned:
@@ -85,20 +87,22 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        base_link:
-          VLP16_link:
-            {}
-          base_link_frd:
-            {}
-          monocular_link:
-            {}
-          realsense_camera_frame:
-            {}
         odom:
           odom_ned:
             {}
         world:
           map:
+            base_link:
+              VLP16_link:
+                {}
+              base_link_frd:
+                {}
+              laser_livox:
+                {}
+              monocular_link:
+                {}
+              realsense_camera_frame:
+                {}
             map_ned:
               {}
       Update Interval: 0
@@ -180,11 +184,11 @@ Visualization Manager:
           Color: 255; 255; 255
           Color Transformer: AxisColor
           Decay Time: 0
-          Enabled: true
+          Enabled: false
           Invert Rainbow: false
           Max Color: 255; 255; 255
           Min Color: 0; 0; 0
-          Name: LaserScan
+          Name: velodyne_vlp16
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
@@ -195,7 +199,35 @@ Visualization Manager:
           Unreliable: false
           Use Fixed Frame: true
           Use rainbow: true
-          Value: true
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 4.867906093597412
+            Min Value: -0.20269186794757843
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: livox_mid360
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.05000000074505806
+          Style: Points
+          Topic: /livox/lidar
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
         - Class: rviz/Group
           Displays:
             - Class: rviz/Image
@@ -241,7 +273,7 @@ Visualization Manager:
               Decay Time: 0
               Depth Map Topic: /realsense/depth_camera/depth/image_raw
               Depth Map Transport Hint: raw
-              Enabled: true
+              Enabled: false
               Invert Rainbow: false
               Max Color: 255; 255; 255
               Min Color: 0; 0; 0
@@ -257,9 +289,9 @@ Visualization Manager:
               Topic Filter: true
               Use Fixed Frame: true
               Use rainbow: true
-              Value: true
+              Value: false
           Enabled: true
-          Name: RGBD
+          Name: realsense_d435i
       Enabled: true
       Name: Sensor
     - Class: rviz/Group
@@ -292,6 +324,34 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 4.96946907043457
+            Min Value: -0.4458925724029541
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 0; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: merge_pcl
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /sensor/pcl2_out
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
       Enabled: true
       Name: Mapping
   Enabled: true

config/merge_pcl.yaml

@@ -0,0 +1,6 @@
+pcl2_source_num: 2
+pcl2_topic_0: /livox/lidar
+pcl2_frame_0: laser_livox
+pcl2_topic_1: /realsense/depth_camera/depth/points
+pcl2_frame_0: realsense_camera_frame
+pcl2_topic_out: /sensor/pcl2_out