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ubuntu 12.04 , Fuerte and rosbuild
I have an octomap in *.ot format which can be downloaded from https://dl.dropboxusercontent.com/u/95042389/level8_extended.ot.zip
I want to create an occupancy grid map from this. Does any one have a straight forward solution for this ?
You can use octomap_server with your .ot file as an argument, that will load the map from file and publish it not only as an octomap but also as occupancy grid in ROS. As mentioned in the Wiki documentation, you just have to listen to the projected_map topic and there are various parameters you can set to your liking (such as minimum and maximum height of the map to consider for the projection).
Otherwise you can follow Stefan's advice and write your own map projection. Create an Octree-Iterator (as described in the OctoMap documentation, check for each node if it's occupied, and then set the corresponding coordinate in your map to occupied or free.
I gave octomap as an argument and could display the 2d map in rviz. TO save the map, in the launch file I added these to a launch file <remap from="map" to="projected_map"/> <node pkg="map_server" type="map_saver" name="map_saver1" output="screen"/> it says that map is saved but i cannot find it
[ INFO] [1390236546.850389657]: Waiting for the map [ INFO] [1390236547.108151857]: Received a 873 X 994 map @ 0.050 m/pix [ INFO] [1390236547.108205638]: Writing map occupancy data to map.pgm [ INFO] [1390236547.131166233]: Writing map occupancy data to map.yaml [ INFO] [1390236547.131295422]: Done
@sai I also want to convert an exiting octomap to 2d map, I saw your comment and try to get the launch file as following: <launch> <remap from="map" to="projected_map"/> <node pkg="map_server" type="map_saver" name="map_saver1" args=" -f /home/maxj/my_map" output="screen"/> </launch>
there is a octomap map naming result.ot in /home/maxj, issue occur when I run this launch file
I am a newer for ROS, Is there anything wrong? what is the correct step？
correct step as following in one terminal : rosrun octomap_server octomap_server_node result.bt you can see the projected_map through rostop list
in another terminal : roslaunch xxx.launch
it works fine for me
Code for doing that is available in the OctomapServer.cpp (see documentation http://docs.ros.org/fuerte/api/octomap_server/html/OctomapServer_8cpp_source.html">here). The functionality is spread throughout the code there however, so if you want a standalone version, you´ll have to pick out the parts you need yourself. I´m not aware of another implementation (but maybe someone else will answer with another option).
There can be multiple answers, so if anyone has a better idea, they can just post another one.
Asked: 2014-01-16 20:24:10 -0500
Seen: 4,455 times
Last updated: Jan 20 '14
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