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rviz to view octomap from velodyne data in static position

Hello everyone and thanks in advance for your help.

I want to use rviz to visualize the octomap generated by velodyne data. But the velodyne is not going to be moving , it's in a fixed position so I do not need a SLAM.

I have been working with velodyne before but not with octomap.

I've installed ros-hydro-octomap, ros-hydro-octomap-mapping, ros-hydro-octomap-rviz-plugins, ros-hydro-octovis.

I generate the PointCloud2 messages, with topic /velodynepoints and frameid=velodyne using: roslaunch velodynepointcloud 32epoints.launch pcap:=$(pwd)/file.pcap

Then I convert the pointcloud to octomap using: roslaunch octomapserver octomapmapping.launch But I have modified this launch file using frameid=velodyne and remap from cloudin to the topic /velodyne_points

Then I do rostopic echo occupiedcellsvis_array and I see the published data, so in some way it is working.

Then I try to visualize the octomap in rviz doing: rosrun rviz rviz (sometime I test adding -f velodyne because it is the frameid ) And I put a Marker array with topic /occupiedcellsvis but I can't see anything . I only can see, the pointcloud2 in topic /velodynepoints with the same rviz.

Is it because octomap requires data from /tf or /tf_static topic, and I am not publishing anything on these?

The position of Velodyne is static, so how can I put static position in /tf ?

Asked by marilia15 on 2014-06-26 12:02:04 UTC

Comments

did you try Fixed frame as "velodyne" in rviz options ?

Asked by bvbdort on 2014-06-26 14:48:00 UTC

To view octomaps in RViz, I would recommend to use the octomap_rviz_plugins package (ros-hydro-octomap-rviz-plugins), it's much more efficient than the voxel array.

Asked by AHornung on 2014-06-27 03:42:43 UTC

Thanks for your soon reply. ros-hydro-octomap-rviz-plugins was installed and the fixed frame was "velodyne". I solved the problem changing the topic in rviz to /occupied_cells_vis_array including _array. All the tutorials and forums said that I should NOT put _array in the topic subscribed by rviz...

Asked by marilia15 on 2014-06-27 04:03:13 UTC

What I meant with my comment is to use the octomap RViz plugin (OccupancyGrid), not the marker array as display (add a new display plugin in RViz for this).

Asked by AHornung on 2014-06-27 04:27:06 UTC

Answers