无人机避障——4D毫米波雷达Octomap从点云建立三维栅格地图

Octomap安装

sudo apt-get install ros-melodic-octomap-ros
sudo apt-get install ros-melodic-octomap-msgs
sudo apt-get install ros-melodic-octomap-server
sudo apt-get install ros-melodic-octomap-rviz-plugins
# map_server安装
sudo apt-get install ros-melodic-map-server

启动rviz

roscore
rosrun rviz rviz

点击add，可以看到多了Octomap_rviz_plugins模组：

OccupancyGrid是显示三维概率地图，也就是octomap地图。OccupancyMap是显示二维占据栅格地图

从PCD创建PointCloud2点云话题并发布出去：

参考资料：

测试的test数据采用以下第一条博客的pcd测试数据

Octomap 在ROS环境下实时显示_octomap在ros环境下实时显示-飞天熊猫-CSDN博客

学习笔记：使用Octomap将点云地图pcd转换为三维栅格地图，并在rviz中可视化_octomap功能包-CSDN博客

创建点云发布话题的工作空间：

mkdir -p ~/publish_pointcloudtest/src        #使用系统命令创建工作空间目录
cd ~/publish_pointcloudtest/src
catkin_init_workspace           # ROS的工作空间初始化命令

在工作空间下放入以下两个文件：

octomap_mapping

octomap_server

资源下载：

https://github.com/OctoMap/octomap_mapping

src下创建cpp文件pointcloud_publisher.cpp

#include <iostream>
#include <string>
#include <stdlib.h>
#include <stdio.h>
#include <sstream>
#include <vector>#include <ros/ros.h>  
#include <pcl/point_cloud.h>  
#include <pcl_conversions/pcl_conversions.h>  
#include <sensor_msgs/PointCloud2.h>  
#include <pcl/io/pcd_io.h>#include <octomap_msgs/OctomapWithPose.h>
#include <octomap_msgs/Octomap.h>
#include <geometry_msgs/Pose.h>#include <octomap/octomap.h>
#include <octomap_msgs/Octomap.h>
#include <octomap_msgs/conversions.h>#include <geometry_msgs/TransformStamped.h>#define TESTCLOUDPOINTS 1  // 设置为 1 以测试点云发布，设置为 0 不测试
#define TESTOCTOTREE 0     // 设置为 1 以测试OctoMap发布，设置为 0 不测试int main (int argc, char **argv)  
{  std::string topic, path, frame_id;int hz = 5;  // 发布频率，单位 Hzros::init(argc, argv, "publish_pointcloud");  // 初始化ROS节点ros::NodeHandle nh;  // 创建节点句柄// 从参数服务器获取参数nh.param<std::string>("path", path, "/home/nvidia/publish_pointcloudtest/data/test.pcd");nh.param<std::string>("frame_id", frame_id, "map");nh.param<std::string>("topic", topic, "pointcloud_topic");nh.param<int>("hz", hz, 5);// 加载点云数据到pcl::PointCloud对象中pcl::PointCloud<pcl::PointXYZ> pcl_cloud; pcl::io::loadPCDFile(path, pcl_cloud);  // 从文件加载点云数据#if TESTCLOUDPOINTS  // 如果 TESTCLOUDPOINTS 定义为 1，则执行这部分代码ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2>(topic, 10);  // 创建Publisher对象，将点云数据发布到指定话题// 转换PCL点云到ROS下的 PointCloud2 类型sensor_msgs::PointCloud2 output;  pcl::toROSMsg(pcl_cloud, output);output.header.stamp = ros::Time::now();  // 设置时间戳output.header.frame_id = frame_id;  // 设置坐标系框架// 打印参数信息std::cout << "path = " << path << std::endl;std::cout << "frame_id = " << frame_id << std::endl;std::cout << "topic = " << topic << std::endl;std::cout << "hz = " << hz << std::endl;ros::Rate loop_rate(hz);  // 设置发布频率  while (ros::ok())  {  pcl_pub.publish(output);  // 发布 PointCloud2 数据ros::spinOnce();  // 处理所有回调函数loop_rate.sleep();  // 按照指定频率睡眠}
#endif#if TESTOCTOTREE  // 如果 TESTOCTOTREE 定义为 1，则执行这部分代码ros::Publisher octomap_pub = nh.advertise<octomap_msgs::Octomap>(topic, 1);  // 创建Publisher对象，将OctoMap数据发布到指定话题// 创建 octomap 对象，并设置其分辨率octomap::OcTree tree(0.1);  // 你可以根据需要调整分辨率// 将点云数据插入到 octomap 中for (const auto& point : pcl_cloud.points) {tree.updateNode(point.x, point.y, point.z, true);}// 发布OctoMap消息octomap_msgs::Octomap octomap_msg;octomap_msgs::fullMapToMsg(tree, octomap_msg);  // 转换为 OctoMap 消息// 设置 OctoMap 消息的头信息octomap_msg.header.stamp = ros::Time::now();octomap_msg.header.frame_id = frame_id;// 打印参数信息std::cout << "path = " << path << std::endl;std::cout << "frame_id = " << frame_id << std::endl;std::cout << "topic = " << topic << std::endl;std::cout << "hz = " << hz << std::endl;ros::Rate loop_rate(hz);  // 设置发布频率  while (ros::ok())  {  octomap_pub.publish(octomap_msg);  // 发布 OctoMap 数据ros::spinOnce();  // 处理所有回调函数loop_rate.sleep();  // 按照指定频率睡眠}
#endifreturn 0;  // 主函数返回值
}

代码中需要进行修改为自己的点云，后续相应都需要修改为自己的路径（自行修改）：

nh.param<std::string>("path", path, "/home/nvidia/publish_pointcloudtest/data/test.pcd");

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(publish_pointcloud)## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packagesset(octomap_ros_DIR "/opt/ros/melodic/share/octomap_ros/cmake")find_package(catkin REQUIRED COMPONENTSroscppstd_msgssensor_msgsoctomap_msgsgeometry_msgsoctomap_ros
)
find_package(PCL REQUIRED)
find_package(octomap REQUIRED)## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()################################################
## Declare ROS messages, services and actions ##
################################################## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )################################################
## Declare ROS dynamic reconfigure parameters ##
################################################## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES my_pkg
#  CATKIN_DEPENDS roscpp std_msgs
#  DEPENDS system_lib
)###########
## Build ##
############# Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include${catkin_INCLUDE_DIRS}${PCL_INCLUDE_DIRS}${OCTOMAP_INCLUDE_DIRS}
)## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/my_pkg.cpp
# )## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(publish_pointcloud src/pointcloud_publisher.cpp)## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against
target_link_libraries(publish_pointcloud${catkin_LIBRARIES}${PCL_LIBRARIES}${OCTOMAP_LIBRARIES}
)#############
## Install ##
############## all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )#############
## Testing ##
############### Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_pkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

package.xml

<?xml version="1.0"?>
<package format="2"><name>publish_pointcloud</name><version>0.0.0</version><description>The publish_pointcloud package</description><!-- One maintainer tag required, multiple allowed, one person per tag --><!-- Example:  --><!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --><maintainer email="nvidia@todo.todo">nvidia</maintainer><!-- One license tag required, multiple allowed, one license per tag --><!-- Commonly used license strings: --><!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --><license>TODO</license><!-- Url tags are optional, but multiple are allowed, one per tag --><!-- Optional attribute type can be: website, bugtracker, or repository --><!-- Example: --><!-- <url type="website">http://wiki.ros.org/point_publish</url> --><!-- Author tags are optional, multiple are allowed, one per tag --><!-- Authors do not have to be maintainers, but could be --><!-- Example: --><!-- <author email="jane.doe@example.com">Jane Doe</author> --><!-- The *depend tags are used to specify dependencies --><!-- Dependencies can be catkin packages or system dependencies --><!-- Examples: --><!-- Use depend as a shortcut for packages that are both build and exec dependencies --><!--   <depend>roscpp</depend> --><!--   Note that this is equivalent to the following: --><!--   <build_depend>roscpp</build_depend> --><!--   <exec_depend>roscpp</exec_depend> --><!-- Use build_depend for packages you need at compile time: --><!--   <build_depend>message_generation</build_depend> --><!-- Use build_export_depend for packages you need in order to build against this package: --><!--   <build_export_depend>message_generation</build_export_depend> --><!-- Use buildtool_depend for build tool packages: --><!--   <buildtool_depend>catkin</buildtool_depend> --><!-- Use exec_depend for packages you need at runtime: --><!--   <exec_depend>message_runtime</exec_depend> --><!-- Use test_depend for packages you need only for testing: --><!--   <test_depend>gtest</test_depend> --><!-- Use doc_depend for packages you need only for building documentation: --><!--   <doc_depend>doxygen</doc_depend> --><buildtool_depend>catkin</buildtool_depend><build_depend>roscpp</build_depend><build_depend>std_msgs</build_depend><build_export_depend>roscpp</build_export_depend><build_export_depend>std_msgs</build_export_depend><exec_depend>roscpp</exec_depend><exec_depend>std_msgs</exec_depend><!-- The export tag contains other, unspecified, tags --><export><!-- Other tools can request additional information be placed here --></export>
</package>

编译通过

记得在devel那边进行source

source devel/setup.bash
roscore
rosrun publish_pointcloud publish_pointcloud

查看下是否有话题，且可以打印出来

rostopic list
rostopic echo /pointcloud_topic

然后打开终端打开rviz

rviz

将PointCloud2 添加进来，话题选择之前的点云话题

编写octomap_mapping.launch文件，launch文件在：

将frameid修改即可

<launch><node pkg="octomap_server" type="octomap_server_node" name="octomap_server"><param name="resolution" value="0.05" /><!-- fixed map frame (set to 'map' if SLAM or localization running!) --><param name="frame_id" type="string" value="map" /><!-- maximum range to integrate (speedup!) --><param name="sensor_model/max_range" value="5.0" /><!-- data source to integrate (PointCloud2) --><remap from="cloud_in" to="/pointcloud_topic" /></node>
</launch>

然后就可以运行launch文件了：

roslaunch octomap_server octomap_mapping.launch

总结上面所有的过程：

1、改完代码后编译nvidia@Xavier-NX:~/publish_pointcloudtest$ catkin_make2、编译完后roscorenvidia@Xavier-NX:~$ roscore3、运行点云发布代码nvidia@Xavier-NX:~/publish_pointcloudtest$ rosrun publish_pointcloud publish_pointcloud4、运行rviz使其显示白色的点云nvidia@Xavier-NX:~$ rviz5、运行octomapnvidia@Xavier-NX:~/publish_pointcloudtest$ roslaunch octomap_server octomap_mapping.launch

上面的点云也是可以测试出来的，如第一张的图，最后用的自己4D毫米波雷达生成的点云也进行了测试，不过有些点云没能显示，后续还需要改进，估计跟坐标系的范围也有关系：