ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
As far as I know the octomap can produce a 2d map from itself by projecting it. This would then also fit.
Nevertheless, you should be able to use both independently by just suppling the 2d map via the map server as normal. If they are build together/based on the same data, they should then also match each other.
If they are build using different localization data, you'll need to align them. I don't know anything automatic, so the easiest might be to modify the 2d map origin.