Using Octomap instead of Voxblox

ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments

BSD 3-Clause "New" or "Revised" License

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Using Octomap instead of Voxblox #55

Closed alre5639 closed 2 months ago

alre5639 commented 5 months ago

Hello, Thank you for the great implementation, I have it all up and running on my physical platform. I would like to swap out the voxblox mapping tool for octomap if that is possible. I see in #14 that Octomap is not implemented for this repo but I wonder if you have some ideas of how we might implement that.

FYI: I saw in #36 that you recommend voxblox but for the publication we are working on we are relying on some particular characteristics of octomap.

tiralonghipol commented 2 months ago

hei @alre5639 ! we used octomap in the past but now we don't support it anymore. what you can try is to modify the map_manager_voxblox_impl.h to match octomap and update the necessary query function in the wrapper map_manager.h hope this helps!