How to use the latest version of octomap in ROS groovy?

[Lars Kunze]

Hi,

I'd like to overlay the octmap binary package in ROS Groovv (1.5.5)  with the latest version in GitHub.

Basically I've set up a seperate catkin workspace as described by Damon Kohler (https://groups.google.com/forum/#!searchin/octomap/overlay/octomap/kFwdpnK9zgc/vuy_83qXOVEJ). I've also used catkin_make_isolated to compile the latest version of octomap without any problems. Although I've the same problem when running octovis.

However, I am interested in using octomap's C++ API directly from a ROS package. But it seems that still the old libraries (binary) are used when I run catkin_make in my other workspace. I can't use, for example, the getNormals() member function in OcTree.

As I am new to both octomap and the catkin build system it would be great if anybody could explain how to use the latest version of octomap with ROS Groovy.

thanks,

Lars   

[Armin Hornung]

Hi Lars,

I'm also new to catkin, so here's what I usually do with plain CMake.
This is in a "rosbuild" package, but should work the same with catkin
(or even with any non-ROS CMake project):

My octomap source checkout (devel branch) lies at
~/code/octomap/octomap-git and I compiled the complete distribution (out
of source build, incl. octovis and dynamicEDT3d).

In your package, use the following lines to find OctoMap with CMake:
find_package(octomap 1.6 REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
# notice the missing link_directories for OctoMap >= 1.6

Then point CMake to the octomap config before compiling:
export octomap_DIR=~/code/octomap/octomap-git/lib/cmake/octomap/
and compile (make clean & clean CMakeCache before just to be sure).
octomap_DIR needs to be the directory that contains octomap-config.cmake

If you run into a linker error, then there's an old library file of
OctoMap picked up somewhere. This is fixed in versions >= 1.6 by using
complete paths in OCTOMAP_LIBRARIES instead of library names with
link_directories. Until then you could try overriding the path in
link_directories, hardcoding your paths into OCTOMAP_LIBRARIES, or
uninstalling the offending octomap debian package.



Best regards,
Armin

--
Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universit�t Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga

[Lars Kunze]

Thanks Armin!

I've got it working following your explanations. 

Cheers,

Lars 

Humanoid Robots Lab, Albert-Ludwigs-Universit�t Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga

[Peter Lepej]

Dear Armin and Lars,

can anyone of you explain how to use octovis in Groovy, I run in to a problem using octovis in groovy in my own project (missing header file qglobal.h, ...). I am not sure if I do not include octovis correct or there is some missing header files in new qt library? It would be really helpful if you can explain how to include octovis in your own project.

Thank You!

Dne torek, 09. julij 2013 09:25:14 UTC+2 je oseba Lars Kunze napisala:

[Lars Kunze]

Hi Peter,

I was able to compile ROS packages against the latest version of octomap using features such as normal estimates. However, the compiled octovis viewer crashes as it was described by Damon Kohler in a previous post. Therefore I am using the pre-compiled binary of octovis that comes with ROS groovy.

Sorry that I can't help you any further,

Lars

 

-- 

Lars Kunze

Research Fellow in Intelligent Robotics

School of Computer Science

University of Birmingham

http://www.cs.bham.ac.uk/~kunzel

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