morse velodyne and octomap (w/ros)

morse_octomap_mapping.launch.xml

<!-- 
  Example launch file for octomap_server mapping: 
  Listens to incoming PointCloud2 data and incrementally builds an octomap. 
  The data is sent out in different representations. 

  Copy this file into your workspace and adjust as needed, see
  www.ros.org/wiki/octomap_server for details  
-->
<launch>
	<node pkg="tf" type="static_transform_publisher" name="robot_tf" args="0 0 0 0 0 0 base_footprint base_link 100"/>
	<node pkg="tf" type="static_transform_publisher" name="fake_loc" args="0 0 0 0 0 0 odom map 100" />
	<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
		<param name="resolution" value="0.05" />
		
		<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
		<param name="frame_id" type="string" value="odom" />
		
		<!-- maximum range to integrate (speedup!) -->
		<param name="sensor_model/max_range" value="5.0" />
		
		<!-- data source to integrate (PointCloud2) -->
		<remap from="cloud_in" to="/robot/velodyne" />
	
	</node>
</launch>

morse_octomap_mapping.py

from morse.builder import *

robot = ATRV()

velodyne = VelodyneZB()
robot.append(velodyne)
velodyne.translate(z=.9)
velodyne.add_stream('ros')
# tune the rotation and frequency
velodyne.set_rotation(.1)
velodyne.frequency(20)

odom = Odometry()
robot.append(odom)
odom.add_stream('ros')

keyboard = Keyboard()
robot.append(keyboard)

env = Environment("outdoors")