下載源碼
https://github.com/HKUST-Aerial-Robotics/open_quadtree_mapping
解壓
修改包內CMakeLists文件11.12行的capablity 爲50(Quadro k620)(顯卡的計算能力可到wiki百科上查看)
整個包複製到 quadtree/src內
cd quadtre
catkin_make
下載運行數據(需要翻牆)open_quadtree_mapping.bag(改名爲example.bag,不該也行)
https://www.dropbox.com/s/xuae1kxuulcf11z/open_quadtree_mapping.bag?dl=0
terminal1:roscore
terminal2:cd quadtree
source devel/setup.bash
roslaunch open_quadtree_mapping example.launch
terminal3:topic list(查看topic)
topic type topic名(查看topic的type)
terminal4:rosrun rviz rviz
左下add按鈕選擇topic type(image)
左側display框內選之前新建的image
設置image topic選項爲所需topic
terminal5:cd到example.bag的位置
rosbag play example.bag
rviz中可以觀測到輸出