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Advanced ROS Tutorials
Here are advance examples on how UFOMap can be used with ROS. Most of the things mentioned here are already implemented in the UFOMap mapping server, so by used that you already get all of these benefits.
Often only a small portion of the map will be updated at a time. To increase performance and reduce the amount of data that has to be published between nodes, it is possible to define which part of the map should be published.
If you followed the previous tutorial and now only publish the updated part of the map, you will notice that when nodes subscribe to the map at different times they will not receive the full map. In order to solve this, we have to detect when a new node is subscribing to our map and send the whole map to that node.
Another approach to solving this problem can be to publish the whole map every X seconds; however, when mapping at 5 mm the map will get huge, so this will eventually get slow.
Mapping at a fine voxel size (2 cm or below) results in a lot of data. In a complete robotics system, different nodes require different map resolutions. It can therefore be beneficial to publish the map at different depths, and only publish at a specific depth if a node subscribes to the topic for that depth.
If you use UFOMap in a scientific publication, please cite the following paper:
@article{duberg2020ufomap,
author={Daniel Duberg and Patric Jensfelt},
journal={IEEE Robotics and Automation Letters},
title={{UFOMap}: An Efficient Probabilistic {3D} Mapping Framework That Embraces the Unknown},
year={2020},
volume={5},
number={4},
pages={6411-6418},
doi={10.1109/LRA.2020.3013861}
}
- Creating a UFOMap
- Integrate Point Cloud into UFOMap
- Collision Checking
- K-Nearest Neighbor Search
- Saving UFOMap to File
- Loading UFOMap from File
- Convert Between UFOMap and OctoMap
- ROS Tutorials
- Introduction
- CmakeLists.txt and package.xml
- UFOMap Publisher
- UFOMap Subscriber
- Integrate sensor_msgs/PointCloud2
- Perform Mapping
- Visualize UFOMap in RViz
- Convert Between UFOMap and OctoMap
- General UFOMap Usage
- Advanced ROS Tutorials