Starting out with octomap and ROS
Hey, I'm got a small robot I am trying to use to do 3D Mapping of an environment, I've got a Scanse Sweep sensor which is mounted so it it scans vertically (rather than a standard horizontal placement) I've already remapping this /pc2 topic to "cloud_in" as required by the octomap_server.
I understand that I will need further odometry eventually and plan to use gmapping to provide that from a GPS, IMU and px4flow optical flow sensor.
The issue that I am trying to get my head around is creating the required tf for the LIDAR sensor for the map frame.
I don't have the faintest idea how to achieve this and have been watching/reading some of the tutorials provided by the transforms node Thanks
After you get the pose you will have to broadcast it on /tf, as in this tutorial. You will also need to setup a frame_id for the world/map and base_frame_id for you sensor. Launch file egs in
octomap_server/launch.