A tool to use the realsense and vicon to map the environment.
ROS1 - Noetic
Ubuntu 20.04
realsense-ros
octomap_server
vicon_bridge
cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/vicon_bridge.git
sudo apt-get install ros-noetic-octomap ros-noetic-octomap-mapping
rosdep install octomap_mapping
rosmake octomap_mapping
follow instruction on
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy
cd ~/catkin_ws
catkin_make
Step 1: Register the object to track in vicon application
Step 2: Change the ip address for vicon machine and object frame in rs_world_mapping.launch
Step 3: to run the octomap_server with realsense and vicon
cd ~/catkin_ws
source devel/setup.bash
roslaunch octomapper rs_world_mapping.launch
Step 4: to save the octomap
After mapping is finished and the launch file is still running, run this
rosrun octomap_server octomap_saver actlab.bt
