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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) 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 ( ) 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...



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You mean to reset after every message is received?

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

Yes before or after receiving a new message

timster gravatar image timster  ( 2015-05-19 08:38:19 -0600 )edit

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

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

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Last updated: May 19 '15