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Well, it is not really converting it to a Quadtree. But as you are using ROS for 2D navigation, you should be able to use the ocotmap_server_multilayer (LINK) which publishes multilayered nav_msgs::OccupancyGrids.

Having a quick look at the source code, I'd say that you would have to adjust it a bit.

Maybe, using the downprojected map of the octomap_server is already enough for you, but I had problems with this (too much clutter)...

If there are better ways, I'd be happy to know as well ;-)

Well, it is not really converting it to a Quadtree. But as you are using ROS for 2D navigation, you should be able to use the ocotmap_server_multilayer (LINK) which publishes multilayered nav_msgs::OccupancyGrids. Check out the 3d_navigation for a demo video.

Having a quick look at the source code, I'd say that you would have to adjust it a bit.

Maybe, using the downprojected map of the octomap_server is already enough for you, but I had problems with this (too much clutter)...

If there are better ways, I'd be happy to know as well ;-)