Octomap_server launch file in RGBDSLAM package?

Hi all,

I have a simple question as I am a beginner to ROS. I'm trying to visualize my RGBDSLAM Octomap data in Rviz, and from the sources I've found, this requires the use of octomapserver. I've seen that I need to run the following command: "roslaunch rgbdslam octomapserver.launch".

However, my problem is that I don't have this octomap_server.launch file anywhere. Was this supposed to have been prepackaged with rgbdslam? How can I acquire this launch file?

Thank you for all your help

Asked by bunberra on 2017-01-11 14:05:58 UTC

Comments

Answers

Hi Bunberra,

the current rgbdslam_v2 uses the octomap library and can compute it internally. You can visualize it in rgbdslam's GUI or save it. You can visualize the saved file with octomap's viewer octovis, or by loading it on the octomap_server (see this answer).

The use of octomap_server to accumulate the point clouds is therefore not required anymore. If you still want to see the file, I found this one in the history of above repository. However, I strongly recommend the procedure as described in the above paragraph.

Asked by Felix Endres on 2017-01-16 10:13:22 UTC