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Problem: Octomap is not working with Kinect Pointcloud

asked 2015-05-11 04:37:57 -0600

KDROS gravatar image

updated 2015-05-11 04:40:12 -0600

Hello Everyone,

I am using kinect for creating pointcloud and passing /camera/depth/point from kinect freenect_camera to octomap_server by remapping octomap cloud_in point cloud to /camera/depth/point. Everything is working fine, Kinect is publishing proper pointcloud, successfully remapping from cloud_in to /camera/depth/point.

Octomap_server is publishing all topics mentioned in [Octomap_server](

I tried to visualize using rviz but I am not getting anything in markerArray and Map I also try to visualize using topic but nothing is coming. Plz help me to rectify this.

If I missed any step for generating 3D occupancy grid map plz let me know, Is there any Slam exist (except rgbdslam and compatible in Ros Hydro) which publishes pointcloud2, and can be inputed to octomap.

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answered 2015-05-11 08:05:58 -0600

bridos gravatar image

Have you changed the topic in the MotionPlanning plugin from "/planning_scene" to "/move_group/monitored_planning_scene" ?

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I didn't do this, actually I didn't find proper document for this. In Octomap_server, they only mentioned that it will subscribe pointcloud2, can you do me favor plz give me proper link for octomap, and tell me other requirements to change.

KDROS gravatar image KDROS  ( 2015-05-11 11:15:27 -0600 )edit

MotionPlanning plugin is not there.. tell me the process.

KDROS gravatar image KDROS  ( 2015-05-12 06:17:20 -0600 )edit

In RVIZ if you click the "Add" button, you can add the MotionPlanning plugin. To get octomap, you have to run sudo apt-get install ros-your-distro-octomap, there are some other packages also for octomap (in terminal and while you have typed the above command press tab twice to see them.

bridos gravatar image bridos  ( 2015-05-12 07:14:42 -0600 )edit

Everything is installed already, I searched plugins in rviz but it is not there. Is there any way to add/install particular plugin in rviz.

KDROS gravatar image KDROS  ( 2015-05-12 11:33:38 -0600 )edit

I think u r using moveit! driver. but I dont have ros compatible robot. I am writting code for moving it.

KDROS gravatar image KDROS  ( 2015-05-13 10:16:10 -0600 )edit

answered 2015-05-11 09:32:37 -0600

RodrigoLG gravatar image

You need a transformation tree for octomap to work properly, are you using one?

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Thanx for your reply.. Should I write another program for /tf node or something else? according to the ROS page, It is subscribing cloud_in pointcloud. What should I do for this.

KDROS gravatar image KDROS  ( 2015-05-11 11:17:14 -0600 )edit

can u post ur transform tree in aswer and how to use that? Have I to write simple frame transform node for this?

KDROS gravatar image KDROS  ( 2015-05-13 09:52:08 -0600 )edit

@KDROS, did you ever figure it out?

nitekrawler gravatar image nitekrawler  ( 2016-10-23 21:49:18 -0600 )edit

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Asked: 2015-05-11 04:37:57 -0600

Seen: 672 times

Last updated: May 11 '15