Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-06-01 02:55:07 +08:00 · 2025-03-13 16:08:27 +11:00
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+# OctoMap 3D Models with ROS/Gazebo Classic
+
+The [OctoMap library](http://octomap.github.io/) is an open source library for generating volumetric 3D environment models from sensor data.
+This model data can then be used by a drone for navigation and obstacle avoidance.
+
+This guide covers how to use _OctoMap_ with the [Gazebo Classic](../sim_gazebo_classic/index.md) [Rotors Simulator](https://github.com/ethz-asl/rotors_simulator/wiki/RotorS-Simulator) and ROS.
+
+## 安装
+
+The installation requires ROS, [Gazebo Classic](../sim_gazebo_classic/index.md) and the Rotors Simulator plugin.
+Follow the [Rotors Simulator instructions](https://github.com/ethz-asl/rotors_simulator) to install.
+
+Next, install the _OctoMap_ library:
+
+```sh
+sudo apt-get install ros-indigo-octomap ros-indigo-octomap-mapping
+rosdep install octomap_mapping
+rosmake octomap_mapping
+```
+
+Now, open `~/catkin_ws/src/rotors_simulator/rotors_gazebo/CMakeLists.txt` and add the following lines to the bottom of the file:
+
+```sh
+find_package(octomap REQUIRED)
+include_directories(${OCTOMAP_INCLUDE_DIRS})
+link_libraries(${OCTOMAP_LIBRARIES})
+```
+
+Open `~/catkin_ws/src/rotors_simulator/rotors_gazebo/package.xml` and add the following lines:
+
+```xml
+<build_depend>octomap</build_depend>
+<run_depend>octomap</run_depend>
+```
+
+Run the following two lines:
+
+:::info
+The first line changes your default shell editor to _gedit_. This is recommended for users who have little experience with _vim_ (the default editor), but can otherwise be omitted.
+:::
+
+```sh
+export EDITOR='gedit'
+rosed octomap_server octomap_tracking_server.launch
+```
+
+and change the two following lines:
+
+```xml
+<param name="frame_id" type="string" value="map" />
+...
+<!--remap from="cloud_in" to="/rgbdslam/batch_clouds" /-->
+```
+
+to:
+
+```xml
+<param name="frame_id" type="string" value="world" />
+...
+<remap from="cloud_in" to="/firefly/vi_sensor/camera_depth/depth/points" />
+```
+
+## Running the Simulation
+
+Run the following three lines in _separate_ terminal windows.
+This opens up [Gazebo Classic](../sim_gazebo_classic/index.md), _Rviz_ and an octomap server.
+
+```sh
+roslaunch rotors_gazebo mav_hovering_example_with_vi_sensor.launch  mav_name:=firefly
+rviz
+roslaunch octomap_server octomap_tracking_server.launch
+```
+
+In _Rviz_, change the field 'Fixed Frame' from 'map' to 'world' in the top left of the window.
+Now click the add button in the bottom left and select MarkerArray. Then double click the MarkerArray and change 'Marker Topic' from `/free_cells_vis_array` to `/occupied_cells_vis_array`.
+
+Now you should see a part of the floor.
+
+In the _Gazebo Classic_ window, insert a cube in front of the red rotors and you should see it in _Rviz_.
+
+![OctoMap Example in Gazebo](../../assets/simulation/gazebo_classic/octomap.png)