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How to visualize octomap from octomap_server with rgbdslam?

asked 2014-04-05 00:19:03 -0600

Xegara gravatar image

updated 2016-10-24 08:59:22 -0600

ngrennan gravatar image

Based on a question asked in this link http:// answers.ros.org/question/127581/rgbdslam-and-octomap/,

Mr. Felix answered, "Have rgbdslam send out the clouds+tf transformations and let the octomap_server listen." which I already did as depicted in the rxgraph attached below.

http:// s7.postimg.org/xw5l3rph7/Screenshot_from_2014_04_05_18_02_14.png

Given I had already did this, how do you visualize the Octomap? I read that the visualization tool is Octovis which I already installed but how will you render the registered point clouds to the Octovis?

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I am running into the same issue for not being able to map rgbdslam to octomap with /tf issues. SInce you mentioned that Mr. Felix's suggestions were implemented in your solution " "Have rgbdslam send out the clouds+tf transformations and let the octomap_server listen.", would you be able to elaborate on how you did that ( as your rxgraph is a very tiny screen shot )

xuningy gravatar image xuningy  ( 2014-05-28 04:46:22 -0600 )edit

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answered 2014-04-05 04:14:03 -0600

davinci gravatar image

The octomap server should output a view topics which you can visualize in Rviz. See the occupied_cells_vis_array topic.

http://wiki.ros.org/octomap_server?di...

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So octomap can be visualized in Rviz. How about Octovis? Is not the Octovis the visualization tool of the Octomap?

Xegara gravatar image Xegara  ( 2014-04-05 04:52:42 -0600 )edit

Octovis is a stand alone tool as far as I know. You have to save the OctoMap as a .bt or .ot file and load this in to Octovis.

davinci gravatar image davinci  ( 2014-04-05 10:07:24 -0600 )edit

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Asked: 2014-04-05 00:19:03 -0600

Seen: 1,537 times

Last updated: Apr 05 '14