Either use the pre-built .deb-packages available in the ROS Ubuntu repository, or compile from source. For just installing octomap as a stand-alone library, run

sudo apt-get install ros-fuerte-octomap

To install octomap, ROS integration, and octomap_server run

sudo apt-get install ros-fuerte-octomap ros-fuerte-octomap-mapping

To compile this stack from source you need to checkout the code (trunk or a tagged release), add the source directory to your ROS_PACKAGE_PATH (e.g. in ~/.bashrc), source that file and run

rosdep install octomap_mapping
rosmake octomap_mapping

That will download and compile the octomap sourcecode, and compile all octomap-related ROS packages.

For more documentation, see the documentation of the packages in this stack, in particular octomap and octomap_server, or the OctoMap library at



Files are available at Google Code.

Report a Bug

Use the alufr-ros-pkg issue tracker to report bugs or request features. For questions (and FAQ), check or contact Armin Hornung.

Wiki: octomap_mapping (last edited 2013-02-16 13:28:50 by ArminHornung)