Problem creating OctoMap from PointCloud2
Hi I am trying to create an octomap from PointCloud2. I load the pointcloud from my ply file convert it into PointCloud2 and publish it on 'cloud_in' topic. The messages are published file. I then launch the octo map node via the launch file which is below
<launch>
<!-- Octomap Server -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap">
<param name="resolution" value="0.05" />
<param name="frame_id" type="string" value="base_link" />
<param name="max_sensor_range" value="20.0" />
<param name="latch" value="false" />
<remap from="cloud_in" to="occupied_cells_vis" />
</node>
</launch>
but unfortunately I cant see anything on Rviz MarkerArray which is listening to occupied_cells_vis. What am I doing wrong here ????
Is the transform correct? your remap should be from="cloud_in" to=the topic you publish with the messages
can i ask you how open the ply file and convert the pointcloud publishing it in pointcloud2??
I could already create octomap from pointcloud. In your line '<remap from="cloud_in" to="occupied_cells_vis"/>' change the occupied_cells_vis to the output topic from your pointcloud. Make sure that your output topic of point cloud has the kind of message poincloud2 and has data in the output.