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How to create a local map from global one

asked 2014-02-04 08:21:26 -0500

Wilk gravatar image

After runing a slam algorithm I receaved a big map and I dlike to make it smaller- I'd like to use only data that are in 3-5 m around. Is there possibility of deleting a node from octomap graph representing a too far point?

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answered 2014-02-04 08:37:23 -0500

davinci gravatar image

There is a clear option. Not sure if you can easy clear with it as you can only specify two corner points.

~clear_bbx (octomap_msgs/BoundingBoxQuery)

Clears a region in the 3D occupancy map, setting all voxels in the region to "free"
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Thanks for very fast response- I'm searching how to use it :D

Wilk gravatar image Wilk  ( 2014-02-04 09:32:16 -0500 )edit

Maby a stupid question but how can I use it in terminal?

Wilk gravatar image Wilk  ( 2014-02-04 10:02:23 -0500 )edit

Try it with tab completion, it will give the required format.

davinci gravatar image davinci  ( 2014-02-05 01:08:30 -0500 )edit
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I think the usage is like this: rosrun octomap_server octomap_eraser_cli.py -x -y -z x y z but still I can't use it- propably I have other problems with octomap (or rgbdslam). Anyway thanks for help. This is the function I was looking for.

Wilk gravatar image Wilk  ( 2014-02-09 02:09:30 -0500 )edit

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Asked: 2014-02-04 08:21:26 -0500

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Last updated: Feb 04 '14