unable to create an octomap from a .bag file using PointCloud2
Hello everyone,
I have a bag file which consists of "PointCloud2" with a corresponding "tf" messages. I am trying to build up an octomap using the inbuilt octomap_server in ROS.
Steps I followed:
- Launched "roscore" in one terminal
- Edited the file "/opt/ros/groovy/stacks/octomap_mapping/octomap_server/launch/octomap_mapping.launch" mapped the cloud_in to my PointCloud2 topic and changed the name of field to "base_link" as given in the header of the bag file.
- Launched octomap node: "roslaunch octomap_server octomap_mapping.launch" in a new terminal
- Played the bag file: "rosbag play <filename.bag>"
Now I am getting this error in the 3rd step-console.
Failed to find match for field 'x'. Failed to find match for field 'y'. Failed to find match for field 'z'.
Now I tried to check if the octomap_server is actually publishing anything back or not: "rostopic echo octomap_point_cloud_centers " (for PointCloud2: and I am getting the output here)
After this I tried to save the point cloud in form of a .ot file: "rosrun octomap_server octomap_saver <outputfile.ot>"
- But now when I am trying to visualize this octomap using "octovis" : "octovis out.ot"
"I am not able to see a octomap out of it."
I further looked into this and found this issue : dev.pointclouds.org/issues/821
Can you share the bag file? Were you able to resolve the issue?