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All you have to do is to launch the octomap server, properly remapping the pointcloud topic, and set your global frame to whatever you are using, odom_combined should be OK. An example is given here: https://github.com/OctoMap/octomap_mapping/blob/master/octomap_server/launch/octomap_mapping.launch

Your remap pointocloud topic would be most probably: <remap from="cloud_in" to="/camera/depth/points"/>

Additionally, you have to launch rviz: rosrun rviz rivz, add a new display of type MarkerArray and subscribe to the topic occupied_cells_vis_array.

Obviously, you have to launch also the openni2 camera: roslaunch openni2_launch openni2.launch (note you have to install openni2_camera and openni2_launch packages for this).

To put all that together in one launch file is straighforward and thus I let that to you :)