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 | 1 | initial version |
I don't know octomap-server, but I guess it's a 3D SLAM algorithm, right? If so, what you still need is some odometry information which you can obtain by using laser_scan_matcher. Otherwise ROS won't know the laser is moving. This will provide a /odom -> /base_link transform, ie. will estimate 2D odometry for your laser sensor.
2.-I have a tf node that can transform and broadcast /laser to /base_link frames respectively.
Please describe (in your original post) what is the source of this transform.
| | 2 | No.2 Revision |
I don't know octomap-server, but I guess it's a 3D SLAM algorithm, right? If so, what you still need is some odometry information which you can obtain by using laser_scan_matcher. Otherwise ROS won't know the laser is moving. This will provide a /odom -> /base_link transform, ie. will estimate 2D odometry for your laser sensor.
2.-I have a tf node that can transform and broadcast /laser to /base_link frames respectively.
Please describe (in your original post) what is the source of this transform.transform -> the rest of the answer depends on this.
| | 3 | No.3 Revision |
I don't know octomap-server, but I guess it's a 3D SLAM algorithm, right? If so, what you still need is some odometry information which you can obtain by using laser_scan_matcher. Otherwise ROS won't know the laser is moving. This will provide a /odom -> /base_link transform, ie. will estimate 2D odometry for your laser sensor.
2.-I have a tf node that can transform and broadcast /laser to /base_link frames respectively.
Please describe (in your original post) what is the source of this transform -> the rest of the answer depends on this.
EDIT: OK, from the comments below I'm guessing you're a novice ROS user, right? So probably not yet accustomed to ROS tf. Then I first suggest you read REP 105 to understand what tf's are, what are they for and how to best use them. Then, I'd suggest to start off by running laser_scan_matcher to obtain an odometry source - you will be able to see your laser scanner moving around in 2D in rviz. Then maybe try it together with gmapping to obtain 2D maps of your surroundings. You should already know what more you might be missing to obtain 3D voxel grid maps by then.
This will help you with your question, I'm sure. I'm sorry I cannot give you an exact answer for your needs, I don't know octomap-server package.
| | 4 | No.4 Revision |
I don't know octomap-server, but I guess it's a 3D SLAM algorithm, right? If so, what you still need is some odometry information which you can obtain by using laser_scan_matcher. Otherwise ROS won't know the laser is moving. This will provide a /odom -> /base_link transform, ie. will estimate 2D odometry for your laser sensor.
2.-I have a tf node that can transform and broadcast /laser to /base_link frames respectively.
Please describe (in your original post) what is the source of this transform -> the rest of the answer depends on this.
EDIT: OK, from the comments below I'm guessing you're a novice ROS user, right? So probably not yet accustomed to ROS tf. Then If you haven't yet, then I first suggest you read REP 105 to understand what tf's are, what are they for and how to best use them. Then, I'd suggest to start off by running laser_scan_matcher to obtain an odometry source - you will be able to see your laser scanner moving around in 2D in rviz. Then maybe try it together with gmapping to obtain 2D maps of your surroundings. You should already know what more you might be missing to obtain 3D voxel grid maps by then.
This will help you with your question, I'm sure. I'm sorry I cannot give you an exact answer for your needs, I don't know octomap-server package.
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