This repository uses a part of the octomap_mapping ros2 branch.

I recommend utilizing docker to easily configure your environment setting.

Test with custom data, the camera is for visualization purposes only.

• Docker
• NVIDIA docker

• ROS2 humble
• PCL
• Eigen

Clone this repository. It doesn't matter if the path is not a ros2 workspace.

git clone https://github.com/Taeyoung96/OctoMap-ROS2.git 

cd docker 

docker build -t octomap-ros2:latest . 

When you create a docker container, you need several options to use the GUI and share folders.

First, you should enter the command below in the local terminal to enable docker to communicate with Xserver on the host.

xhost +local:docker 

After that, make your own container with the command below.

sudo chmod -R 777 container_run.sh 

./container_run.sh <container_name> <image_name:tag> 

⚠️ You should change {container_name}, {docker image} to suit your environment.

For example,

 ./container_run.sh octomap_ros2 octomap-ros2:latest 

If you have successfully created the docker container, the terminal output will be similar to the below.

output :

Current working directory: /home/taeyoung/Desktop/FAST_LIO_ROS2 ================Octomap server ROS2 Docker Env Ready================ root@taeyoung-cilab:~/ros2_ws# 

On /ros2_ws directory,

Build the packages with dependencies at first.

colcon build --packages-select octomap_msgs octomap_ros 

source install/setup.bash 

Then build all the packages.

colcon build 

source install/setup.bash 

You need to run the 3D Mapping package (ex. FAST_LIO_ROS2) at the same time.

On the FAST-LIO2 terminal,

ros2 launch fast_lio velodyne.launch.py 

For this docker container,

ros2 launch octomap_server octomap_mapping.launch.xml 

ros2 run nav2_map_server map_saver_cli -f ~/ros2_ws/src/ --ros-args --remap map:=/projected_map