Test Mapping Validation Archive

Offline validation archive for the indoor test arena used before field deployment. This repository is worth keeping because it preserves the validation side of the project: the launch setup, the saved outputs, and the way indoor mapping results were checked before the field campaign.

This is intentionally a low-maintenance repository. It makes sense as a reference archive, not as a main place for ongoing refactoring or feature work.

What This Repo Contains

• launch files that process recorded bag files into 3D OctoMaps and 2D occupancy maps,
• a small lasertopc package for converting LaserScan data to PointCloud2,
• saved OctoMap and occupancy-map outputs from arena tests.

Why Keep It

• It shows the validation workflow behind the mission, not just the final operational stack.
• It preserves example OctoMap and occupancy-map outputs that students can compare against.
• It gives context for how indoor arena tests fed into the later field-campaign work.

Algorithms Used

• Laser projection from LaserScan to PointCloud2.
• OctoMap 3D occupancy mapping.
• 2D occupancy projection from the OctoMap server outputs.

Repository Map

• launch/: offline processing launch files for lidar and depth-camera datasets.
• lasertopc/: bridge package required by the lidar OctoMap flow.
• OCTO_TEST/: saved 3D OctoMap outputs (.ot and compressed .bt).
• OCCUPANCY_TEST/: saved 2D occupancy maps (.pgm and .yaml).

How To Use It

1. Prepare the missing bag files in your own local storage.
2. Install laser_geometry and the OctoMap-related ROS packages.
3. Run the launch file corresponding to the sensor and test height you want to evaluate.
4. Compare your outputs against the saved artifacts in OCTO_TEST/ and OCCUPANCY_TEST/.

Recommended Position In The Workspace

• Keep this repo as the validation/archive part of the workspace.
• Do new mapping development in SLAM_CODE or IGLUNA-FC-Code, then use TEST_VOLIERE only to explain or reproduce the indoor validation workflow.

Notes For Students

• The reference frame used in these tests is the arena world frame, not the T265 frame.
• The bag files were intentionally not committed because they were too large.
• This repository is best used as an evaluation harness and historical archive, not as the main place to develop mission logic.

License Note

This repository currently has no top-level license file. Add one before redistributing derived material.