After some digging, I see that the Euclid release of realsense_sp_nodelet.cpp (https://github.com/IntelEuclid/realsense_sp) exists and does make Euclid specific changes for the IMU. It also has a nice block of code commented out that would handle the occupancy map building.
So - is this being worked on?
You are right, you can see the code of the realsense_sp_nodelet.cpp, and the part of getting the occupancy map is commented out, you are welcome to uncomment it and try running it, though, there are some modifications needed to send it as "ROS" map ..
Another option is to check the public realsense slam wrapper, they already doing the ROS map you need: realsense_samples_ros/slam_nodelet.cpp at kinetic-devel · IntelRealSense/realsense_samples_ros · GitHub
At least I know I'm looking in the right places I'll see what I can do.
I hacked the occupancy map code from the public RealSense slam wrapper into the Euclid realsense_sp nodelet. It took just a few changes, and appears to work. Now I can show an occupancy map using rViz.
Here's a link to my forked copy of realsense_sp:
I put basic instructions in the README how to get it going. I am a total ROS newbie... there could be typos/problems/etc.
A few updates have been made to the demo code.
- Christiaan20 / Intermodalics corrected/added info for camera and odometry links. This allows you to look at the Euclid's position guesstimate along with the map.
- Once I had Christiaan20's changes, I realized the map orientation (x-y) didn't map to ROS' normal orientation. This has been corrected (see the code).
- Christiaan20 also exposed more items in the Realsense Slam API. I've brought some out as configurable parameters.