octomap_msgs

Summary

octomap_msgs
Version:

0.3.2
Description:

This package provides messages and serializations / conversion for the OctoMap library.
Maintainers:
  • Armin Hornung <HornungA AT informatik DOT uni-freiburg DOT de>
Licenses:
  • BSD
Urls:
Authors:
  • Armin Hornung <HornungA AT informatik DOT uni-freiburg DOT de>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

octomap_msgs/OctomapWithPose
Field:

A 3D map in binary format, as Octree

# A 3D map in binary format, as Octree
Header header

# The pose of the octree with respect to the header frame 
geometry_msgs/Pose origin

# The actual octree msg
octomap_msgs/Octomap octomap
octomap_msgs/Octomap
Field:
  • header (std_msgs/Header) –
  • binary (bool) –
  • id (string) –
  • resolution (float64) –
  • data[] (int8) –

A 3D map in binary format, as Octree

# A 3D map in binary format, as Octree
Header header

# Flag to denote a binary (only free/occupied) or full occupancy octree (.bt/.ot file)
bool binary

# Class id of the contained octree 
string id

# Resolution (in m) of the smallest octree nodes
float64 resolution

# binary serialization of octree, use conversions.h to read and write octrees
int8[] data

Service types

octomap_msgs/BoundingBoxQuery
Field (Request):
 

Clear a region specified by a global axis-aligned bounding box in stored OctoMap

minimum corner point of axis-aligned bounding box in global frame

# Clear a region specified by a global axis-aligned bounding box in stored OctoMap

# minimum corner point of axis-aligned bounding box in global frame
geometry_msgs/Point min
# maximum corner point of axis-aligned bounding box in global frame
geometry_msgs/Point max
---
octomap_msgs/GetOctomap
Field (Response):
  
# Get the map as a octomap
---
octomap_msgs/Octomap map