dynamic-laser-map-octomap-ros
Hi everybody
What do I have?
1.-I have a laser running under ROS, with the use of "rosrun hokuyo_node hokuyo_node" I can get the stream data.
2.-I have a tf node that can transform and broadcast /laser (which is the laser frame) to /base_link (which is in a fake center of the robot) frames respectively, tf_broadcaster.cpp
3.-I have a node that can transform laser scans to pointcloud2 and then it publishes the topic cl.
4.- I run the command "roslaunch octomap_server octomap_mapping.launch" then in RVIZ I can see the voxels-map. But the voxels are not in 3D, they have 2D shape. Moreover, when I move the laser it does not really build the octree map, instead, it fills all over the map with 2D voxels.
What I want?
1.- I want to build dynamically the octree-map and visualize the process in RVIZ. I mean, I want to fuse the individual octree-maps that correspond to a single laser reading and build up the octree map, and I want to see that process on RVIZ or in octavis.
2.-How can I do that? Is that possible in octomap-ros? Do you have some code?
In advance thank you.