FastMapping Algorithm#

FastMapping application is the Intel® optimized version of octomap.

For more information on FastMapping, see How it Works .

Source Code#

The source code of this component can be found here: FastMapping

To download and install the FastMapping standalone sample application run the command below:
```
sudo apt-get install ros-humble-fast-mapping
```
Note

The ros-humble-fast-mapping package includes a ROS 2 bag, which will be used for this tutorial. After the installation, the ROS 2 bag can be found at /opt/ros/humble/share/bagfiles/spinning/
Set up your ROS 2 environment
```
source /opt/ros/humble/setup.bash
```
Run the FastMapping sample application using a ROS 2 bag of a robot spinning:
```
ros2 launch fast_mapping fast_mapping.launch.py
```
Expected output:
Run the FastMapping sample application using Intel® RealSense™ camera input with RTAB-Map:
```
ros2 launch fast_mapping fast_mapping_rtabmap.launch.py
```

Once the tutorial is launched, the input from the Intel® RealSense™ camera is used and a 3D voxel map of the environment can be viewed in rviz.

To close this application, type Ctrl-c in the terminal where you ran the launch script.