octomap_server

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Well, in advance thank you for your replay. I have a "sensor_msgs::PointCloud cl". I have installed octomap_mapping over svn. I would like the following: 1.-How can I test octomap in ROS?. 2.- I dont have any map .bt or .ot., how can I generate this kind of maps in ROS 3.- I want to visualize the PointCloud cl almost in real time in rviz. Thank you.

Please update your original question with the more detailed info, it's hard to answer here and get what you actually want to achieve. 1: Just like octomap without ros, see http://octomap.sf.net/ 2: see answer of Felix 3: you don't need OctoMap to visualize pointclouds, just add a PointCloud2 display

Well, sorry for not making myself clear enough. I have a node that broadcast a transformation from my /laser to base_link. And, I have another node that listen the laser /scan topic and then I apply transformLaserScanToPointCloud("/bl", *scan, cl, tfListener_); At this moment I can visualize Poincloud/cl in rviz. what I really want is the following. 1.- I want to fused the [cl.points[i].x, cl.points[i].y, cl.points[i].z] using octomap-ROS to make and entire map of the environment. But I would like to visualize that process in vriz, I mean I would like to see the occupied voxels of the map while iam constructing the map. I hope this time is more clear and in advance thank you for any help.

So the answer is in Felix's and my answer: publish the pointcloud, use octomap_server (look at the launch file) on your pointcloud topic, and enable the MarkerArray display in RViz to see the map built with OctoMap.

In advance thank you, I will try that :)

Hi, The launch file in octomap_server just Listens to a incoming PointCloud2 data and incrementally builds an octomap. Well, I have publish a sensor_msgs::PointCloud2 cl; to test it. I have remap the line in the launch file <remap from="cloud_in" to="/cl" />.

Then I open Rviz and I add a MarkerArray with topic /occupied_cells_vis_array. But I can not see anything in Rviz, I am probably doing something wrong. In advance thank you