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<div align="center"> <h1>OctoMap Server2</h1> <h3>Implementation of octomap for ROS2.0 </h3> <a href="https://travis-ci.com/iKrishneel/octomap_server2"><img src="https://travis-ci.com/iKrishneel/octomap_server2.svg?branch=master"></a> </div>

Port of the ROS1 octomap server for ROS2.0

Installation

Firstly make sure you have octomap installed on your system

Next, clone this ros package to the appropriate ros2 workspace

$ git clone https://github.com/iKrishneel/octomap_server2.git

Clone the dependency repositories to the workspace

# will clone octomap_msgs to the workspace
$ vcs import . < deps.repos

Building

Use colcon to build the workspace

$ colcon build --symlink-install --packages-select octomap_msgs octomap_server2

Running

Launch the node with appropriate input on topic cloud_in

$ ros2 launch octomap_server2 octomap_server_launch.py