I use rgbdslamv2 to get a map which can be used to path planning and can be loaded next time. But when I want to save octomap by GUI,it often tells me it is empty, and if I save a pcd file, it will be compressed to a flat, so I can not load it at next time, and it always need too much storage. I try some methods to solve the octomap question, but I failed, I still can not do that. Can anybody who solved this question tell me what should I do?

And if I do not need pcd file, can I just modify the file where works with pcl point?

I do this work one month ago,so I not really remerber what I had done. I try it again,there are methods I tried.

First,I followed this web https://answers.ros.org/question/2536... I add 'return true' in bool GraphManager::updateCloudOrigin(Node* node). This function needs to return a bool but return true is missed in the end of the function. I also set store_pointclouds to true.

But I didn't solve this problem as they said. I try to use ros_graph to see whether the octomap node is running, however,in the next picture no octomap node! image description

Then I tried https://answers.ros.org/question/7743... I wrote a launch file including octomap and kinect2 services. image description There get octomap service,it links to batchcloud, when I use rviz to listen batchcloud message,nothing in it. Then I see that " you need make the same process but you only need public the topic for send the poindcloud to octomap, you need cal the service. rosservice call /rgbdslam/rosui sendall and you see in rviz and octomapserver" I use $ rosservice call /rgbdslam/rosui sendall I can see pointcloud published by batchcloud in rviz,but when I use $rosservice call /rgbdslam/rosuis save_octomap filename.ot I get an empty octomap again!

Here is my topic:

And then I noticed the experimental octomap,I wanna download it via $svn co http://alufr-ros-pkg.googlecode.com/s... but this website is "404 error",and can not find path via this commad...

Thanks for your attention!