3D Mapping using Octomap on Turtle Bot

Install

Install Octomap and Rtabmap

$ sudo apt install ros-kinetic-octomap ros-kinetic-octomap-rviz-plugins ros-kinetic-rtabmap ros-kinetic-rtabmap-ros

TurtleBot and TurtleBot3 Installation

$ sudo apt install ros-kinetic-turtlebot* 

Set up

$ cd ~/catkin_ws/src
$ wstool init
$ wstool set turtlebot_octomap https://github.com/RyuYamamoto/turtlebot_octomap.git --git
$ wstool update turtlebot_octomap

Run

Turtlebot

$ roslaunch turtlebot_octomap turtlebot_build_map.launch

Turtlebot3

$ roslaunch turtlebot_octomap turtlebot3_build_map.launch