ROS Package for converting 3D OctoMaps into a 2.5D data structure for improved path planning efficiency
Based on this paper
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Installing Dependencies:
$ sudo apt-get install ros-noetic-octomap ros-noetic-octomap-mapping ros-noetic-octomap-msgs ros-noetic-octomap-ros ros-noetic-octomap-rviz-plugins ros-noetic-octomap-server
Setup:
$ source /opt/ros/noetic/setup.bash
Visualization in RVIZ:
$ rosrun rviz rviz