Switched to the new octomap_ros package

Author: ericperko

octocostmap/include/octocostmap/costmap_3d.h

@@ -39,7 +39,7 @@
 #include <tf/transform_listener.h>
 #include <tf/transform_datatypes.h>
 #include <octomap/octomap.h>
-#include <octomap_server/OctomapBinary.h>
+#include <octomap_ros/OctomapBinary.h>
 #include <geometry_msgs/PointStamped.h>
 #include <boost/thread/shared_mutex.hpp>
 #include <vector>
@@ -49,7 +49,7 @@ namespace octocostmap {
             public:
                 Costmap3D(const std::string &name, tf::TransformListener &tfl);
 
-                void octomapCallback(const octomap_server::OctomapBinary::ConstPtr& map);
+                void octomapCallback(const octomap_ros::OctomapBinary::ConstPtr& map);
 
                 bool checkCollisionVolume(const std::vector<tf::Point > &collision_volume);
 

octocostmap/manifest.xml

@@ -9,7 +9,7 @@
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/octocostmap</url>
   <depend package="roscpp"/>
-  <depend package="octomap_server"/>
+  <depend package="octomap_ros"/>
   <depend package="sensor_msgs"/>
   <depend package="pcl_ros" />
   <depend package="tf" />

octocostmap/src/costmap_3d.cpp

@@ -33,22 +33,22 @@
  *********************************************************************/
 
 #include <octocostmap/costmap_3d.h>
-#include <octomap_server/octomap_server.h>
+#include <octomap_ros/conversions.h>
 #include <boost/foreach.hpp>
 #include <pcl_ros/point_cloud.h>
 #include <pcl/point_types.h>
 
 namespace octocostmap {
   Costmap3D::Costmap3D(const std::string &name, tf::TransformListener &tfl):
     name_(name), map_frame_("map"), tfl_(tfl), nh_(), priv_nh_("~/" + name_), octree_(0.5) {
-      octomap_sub_ = nh_.subscribe<octomap_server::OctomapBinary>("octomap", 1, boost::bind(&Costmap3D::octomapCallback, this, _1));
+      octomap_sub_ = nh_.subscribe<octomap_ros::OctomapBinary>("octomap", 1, boost::bind(&Costmap3D::octomapCallback, this, _1));
       collision_volume_pub_ = nh_.advertise<pcl::PointCloud<pcl::PointXYZ> >("collison_volume_cloud", 1);
     }
 
-  void Costmap3D::octomapCallback(const octomap_server::OctomapBinary::ConstPtr& map) {
+  void Costmap3D::octomapCallback(const octomap_ros::OctomapBinary::ConstPtr& map) {
     bool locked = octree_lock_.try_lock();
     if (locked) {
-      octomap_server::octomapMsgToMap(*map, octree_);
+      octomap::octomapMsgToMap(*map, octree_);
       map_frame_= map->header.frame_id;
       octree_lock_.unlock();
     }

octocostmap/src/octocostmap.cpp

@@ -33,8 +33,8 @@
  *********************************************************************/
 
 #include <octocostmap/octocostmap.h>
-#include <octomap_server/octomap_server.h>
-#include <octomap_server/OctomapBinary.h>
+#include <octomap_ros/conversions.h>
+#include <octomap_ros/OctomapBinary.h>
 
 #include <tf/transform_datatypes.h>
 #include <boost/foreach.hpp>
@@ -50,7 +50,7 @@ namespace octocostmap {
     pc_tf_filter_ = new tf::MessageFilter<pcl::PointCloud<pcl::PointXYZ> >(pc_sub_, tfl_, map_frame_, 100);
     pc_tf_filter_->registerCallback(boost::bind(&OctoCostmap::pointCloudCallback, this, _1));
 
-    map_pub_ = nh_.advertise<octomap_server::OctomapBinary>("octomap", 1, true);
+    map_pub_ = nh_.advertise<octomap_ros::OctomapBinary>("octomap", 1, true);
 
     octree_ = new octomap::OcTree(map_resolution_);
   }
@@ -115,8 +115,8 @@ namespace octocostmap {
 
   void OctoCostmap::publishOctomapMsg() {
     if (map_pub_.getNumSubscribers() > 0) {
-      octomap_server::OctomapBinary::Ptr map_ptr = boost::make_shared<octomap_server::OctomapBinary>();
-      octomap_server::octomapMapToMsg(*octree_, *map_ptr);
+      octomap_ros::OctomapBinary::Ptr map_ptr = boost::make_shared<octomap_ros::OctomapBinary>();
+      octomap::octomapMapToMsg(*octree_, *map_ptr);
       map_ptr->header.frame_id = map_frame_;
       map_pub_.publish(map_ptr);
       ROS_DEBUG("Published an octocostmap");