ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Thanks for replying Airuno2L.

I am trying to build ROS and octomap on ubuntu 14.04 using kinect camera. I am not using any robot as of now, instead manually trying to move the camera . These are the steps I follow:

  1. I run roscore
  2. I launch roslaunch openni_launch openni.launch
  3. I launch roslaunch octomap_server octomap_mapping.launch

I have made a few changes to these files after referring the previous issues faced by people and I dont know if its correct.

This is my octomap_mapping.launch file

<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">

    <!-- fixed map frame (set to 'map' if SLAM or localization running!)
    <param name="frame_id" type="string" value="odom_combined" /> -->
    <param name="frame_id" type="string" value="map" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="5.0" />

    <!-- data source to integrate (PointCloud2)
    <remap from="cloud_in" to="/narrow_stereo/points_filtered2" /> -->
    <remap from="cloud_in" to="/narrow_stereo/points_filtered2" />

</node>

</launch>

This is my octomap_mapping_nodelet.launch file

<launch> <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>

<node pkg="nodelet" type="nodelet" name="octomap_server_nodelet" args="load octomap_server/OctomapServerNodelet standalone_nodelet">

    <!-- fixed map frame (set to 'map' if SLAM or localization running!)
    <param name="frame_id" type="string" value="odom_combined" /> -->
    <param name="frame_id" type="string" value="map" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="5.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="octomap_server_nodelet/cloud_in" to="cloud_in" />

  <!-- output collision map -->
  <remap from="octomap_server_nodelet/collision_map_out" to="collision_map_out"/>

</node>

</launch>

  1. I run rosrun rviz rviz

  2. I add MarkerArray topic and change the topic to occupied_cells_vis_array(I also tried changing it to occupied_cells_vis but didn't work)

  3. I get a fixed frame error: no tf data found. So, I run "rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map my_frame 100" and the error is resolved but still I don't see any maps.

  4. I add PointCloud2 topic

I still can't visualize any map. Please please help!