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Publishing from Octomap_server

asked 2013-11-27 04:51:34 -0500

Mattia gravatar image

updated 2013-11-27 05:46:26 -0500

dornhege gravatar image

Hi everyone can I publish a 2d projection of the map (occupancy_grid msg) that I loaded on the octomap_server and pass it to map_server or costmap_2d on some topic? Can you help me? Thanks

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answered 2013-11-27 05:45:58 -0500

dornhege gravatar image

The octomap_server already does this for you on the projected_map topic.

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Ok! So if I publish a map on octomap_server this map will be also automatically passed to costmap_2d?! Can you help me telling me what have I to write to read a costmap2dRos object from a costmap_2d node while i'm in a new Ros-node created by me? Thanks a lot for all the answers

Mattia gravatar image Mattia  ( 2013-11-27 06:07:21 -0500 )edit

It's there to be used, but published on projected_map instead of map to avoid conflicts with another map server running. If you want to used this as the map topic remap projected_map:=map when starting octomap_server. For follow-up questions, please open a new one.

dornhege gravatar image dornhege  ( 2013-11-27 22:41:02 -0500 )edit

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Asked: 2013-11-27 04:51:34 -0500

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Last updated: Nov 27 '13