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All you have to do is to launch the octomap server, properly remapping the pointcloud topic, and set your global frame to whatever you are using, odom_combined should be OK. An example is given here: https://github.com/OctoMap/octomap_ma...
Your remap pointocloud topic would be most probably: <remap from="cloud_in" to="/camera/depth/points"/>
Additionally, you have to launch rviz: rosrun rviz rivz, add a new display of type MarkerArray and subscribe to the topic occupied_cells_vis_array.
Obviously, you have to launch also the openni2 camera: roslaunch openni2_launch openni2.launch (note you have to install openni2_camera and openni2_launch packages for this).
To put all that together in one launch file is straighforward and thus I let that to you :)
Run rostopic echo /occupied_cells_vis_array to ensure that the map is being published. The instructions to visualize it on Rviz are in the third paragraph of my answer.
Can you please share the launch file you created? I guess there is a problem with the frames, but cannot figure out which one.
That is what I want to test. I was never sure how that works hehe.
Asked: 2015-07-09 13:46:27 -0500
Seen: 327 times
Last updated: Jul 09 '15
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