Voxelized geometry tools (Voxel-based collision/occupancy maps, signed-distance fields, discrete geometry tools)
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.gitThis 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.xmlFor ROS 2 Dashing
cd ~/ws/src/voxelized_geometry_tools
ln -sT CMakeLists.txt.ros2 CMakeLists.txt
ln -sT package.xml.ros2 package.xmlFinally, use rosdep
to ensure all dependencies in the package.xml are satisfied:
cd ~/ws
rosdep install -i -y --from-path srcUse catkin_make or
colcon accordingly.
For ROS 1 Kinetic
cd ~/ws
catkin_make # the entire workspace
catkin_make --pkg voxelized_geometry_tools # the package onlyFor ROS 2 Dashing
cd ~/ws
colcon build # the entire workspace
colcon build --packages-select voxelized_geometry_tools # the package onlyUse 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>