voxelized_geometry_tools

Voxelized geometry tools (Voxel-based collision/occupancy maps, signed-distance fields, discrete geometry tools)

Setup

voxelized_geometry_tools is a ROS package.

Thus, it is best to build it within a ROS workspace:

mkdir -p ~/ws/src
cd ~/ws/src
git clone https://github.com/calderpg/voxelized_geometry_tools.git

This package supports ROS 1 Kinetic+ and ROS 2 Dashing+ distributions. Make sure to symlink the corresponding CMakeLists.txt and package.xml files for the ROS distribution of choice:

For ROS 1 Kinetic+

cd ~/ws/src/voxelized_geometry_tools
ln -sT CMakeLists.txt.ros1 CMakeLists.txt
ln -sT package.xml.ros1 package.xml

For ROS 2 Dashing+

cd ~/ws/src/voxelized_geometry_tools
ln -sT CMakeLists.txt.ros2 CMakeLists.txt
ln -sT package.xml.ros2 package.xml

Finally, use rosdep to ensure all dependencies in the package.xml are satisfied:

cd ~/ws
rosdep install -i -y --from-path src

Building

Use catkin_make or colcon accordingly.

For ROS 1 Kinetic+

cd ~/ws
catkin_make  # the entire workspace
catkin_make --pkg voxelized_geometry_tools  # the package only

For ROS 2 Dashing+

cd ~/ws
colcon build  # the entire workspace
colcon build --packages-select voxelized_geometry_tools  # the package only

Running examples

Use rosrun or ros2 run accordingly.

For ROS 1 Kinetic+

cd ~/ws
source ./devel/setup.bash
rosrun voxelized_geometry_tools <example>

For ROS 2 Dashing+

cd ~/ws
source ./install/setup.bash
ros2 run voxelized_geometry_tools <example>