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feat: octomap example working in lab_sim #431

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Merged
shaur-k merged 1 commit into from
Oct 17, 2025
Merged

feat: octomap example working in lab_sim #431

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3 changes: 3 additions & 0 deletions src/lab_sim/config/config.yaml
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Expand Up @@ -32,6 +32,9 @@ moveit_params:
pose_jog:
package: "lab_sim"
path: "config/moveit/pose_jog.yaml"
sensors_3d:
package: "lab_sim"
path: "config/moveit/sensors_3d.yaml"

# Configuration for loading behaviors and objectives.
# [Required]
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6 changes: 3 additions & 3 deletions src/lab_sim/config/moveit/sensors_3d.yaml
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Expand Up @@ -7,18 +7,18 @@ scene_scan_camera:
# Set to an empty topic to disable.
point_cloud_service_name: "/point_cloud_service"
# Points further than this will not be used (in meters).
max_range: 1.5
max_range: 6.0
# Choose one of every 'point_subsample' points (select all if set to 1).
point_subsample: 1
# Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap.
padding_scale: 1.0
# Absolute padding around scaled collision shapes when excluding them from the octomap (in meters).
padding_offset: 0.01
padding_offset: 0.1
# The octomap representation will be updated at rate less than or equal to this value.
max_update_rate: 0.1

# Specifies the resolution at which the octomap is maintained (in meters).
octomap_resolution: 0.01
octomap_resolution: 0.05
# Specifies the coordinate frame in which the Octomap representation will be stored.
# Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor,
# this frame parameter will not be used. Instead, the frame defaults to the planning frame.
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38 changes: 38 additions & 0 deletions src/lab_sim/objectives/octomap_example.xml
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@@ -0,0 +1,38 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Octomap Example">
<!--//////////-->
<BehaviorTree
ID="Octomap Example"
_description="Takes a snapshot of the scene camera and then updates the planning scene in RViz with an ocotomap based on the `sensors_3d.yaml` file settings."
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action ID="ClearSnapshot" />
<Action
ID="GetPointCloud"
message_out="{point_cloud}"
publisher_timeout_sec="5.000000"
timeout_sec="5.000000"
topic_name="/scene_camera/points"
/>
<Action
ID="UpdatePlanningSceneService"
point_cloud="{point_cloud}"
point_cloud_service="/point_cloud_service"
/>
<Action
ID="SendPointCloudToUI"
pcd_topic="/pcd_pointcloud_captures"
point_cloud="{point_cloud}"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Octomap Example">
<MetadataFields>
<Metadata runnable="true" />
<Metadata subcategory="Perception - 3D Point Cloud" />
</MetadataFields>
</SubTree>
</TreeNodesModel>
</root>