publish only current cloud as octomap
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!
