ALOAM建图时构建二维栅格地图_a-loam使用octomap生成二维占据栅格导航地图

1.安装octomap：

sudo apt-get install ros-noetic-octomap-ros

sudo apt-get install ros-noetic-octomap-msgs

 sudo apt-get install ros-noetic-octomap-server

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

2.在launch文件中启动octomap_server

<launch>
  <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
 
    <!-- resolution in meters per pixel -->
    <param name="resolution" value="0.1" />
 
    <!-- name of the fixed frame, needs to be "/map" for SLAM -->
    <param name="frame_id" type="string" value="camera_init" />
 
    <!-- max range / depth resolution of the kinect in meter -->
    <param name="sensor_model/max_range" value="50.0" />
    <param name="latch" value="true" />
 
    <!-- max/min height for occupancy map, should be in meters -->
    <param name="pointcloud_max_z" value="1.6" />
    <param name="pointcloud_min_z" value="0.8" />
 
    <param name="ground_filter_angle" value="3.14" />
 
    <!-- topic from where pointcloud2 messages are subscribed -->
    <remap from="cloud_in" to="laser_cloud_map" />
 
  </node>
 
</launch>

3.在rviz中添加一个“OccupancyMap”模块，”设置“topic为”/octomap_full“

保存栅格地图

rosrun map_server map_saver  map:=/projected_map -f ~/map

参考链接：

Ａ_LOAM建图同时构建栅格地图(去除动态物体构建可行驶区域)（Lego_Loam也适用）_Discoverhub的博客-CSDN博客_loam会把动态障碍物

A-LOAM构建3d点云地图并实时转存二维栅格地图-pudn.com