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publish only current cloud as octomap

asked 2015-05-19 03:44:32 -0600

updated 2015-05-19 03:45:08 -0600

Hi there, I want to do some comparisons between a global octomap and a local one, in order to detect new obstacles in the scene. For this, my proposed solution is to publish a stored octomap as global map and then with the input cloud from the sensor, obtain the local octomap and compare both of them. For this, I am launching two octomap_servers

My problem is that octomap_server keeps building an incremental map, and after a few scans the octomap will be too large to be traversed at high frequency. In this post (which is not very related actually) http://answers.ros.org/question/11887... they suggest just to copy, paste and adapt code, but I wonder if there is a way to get ONLY the octomap from the last point cloud from the sensor.

Thank you!

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answered 2015-05-19 08:30:46 -0600

timster gravatar image

For the local octomap you could try to use the reset service ( http://wiki.ros.org/octomap_server#Se... ) before inserting a new point cloud. This way you would have the desired behavior without any modifications to the code. Not sure if this runs fast enough though...

Cheers

Tim

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You mean to reset after every message is received?

Javier V. Gómez gravatar imageJavier V. Gómez ( 2015-05-19 08:34:34 -0600 )edit

Yes before or after receiving a new message

timster gravatar imagetimster ( 2015-05-19 08:38:19 -0600 )edit
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Ok I was able to do it and it more or less does what I want. I am not accepting the answer yet to see if somebody else have a better alternative. But thank you!

Javier V. Gómez gravatar imageJavier V. Gómez ( 2015-05-19 09:42:58 -0600 )edit

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Asked: 2015-05-19 03:44:32 -0600

Seen: 205 times

Last updated: May 19 '15