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Configure octomap with pointcloud from openni2

asked 2015-07-09 13:46:27 -0500

Saracerno gravatar image

Hi , i'm using rviz to visualize pointcloud from xtion through openni2. Could i have some help with configuration of octomap launch file to build map and visualize it in rviz . Thanks a lot.

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answered 2015-07-09 14:08:18 -0500

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 :)

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Ok, I made a launch file and seems to work, but now i can't see the map in rviz . How should i configure it ??

Saracerno gravatar image Saracerno  ( 2015-07-10 03:40:09 -0500 )edit

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.

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-07-10 04:06:30 -0500 )edit

I tried the command but nothing seems to be published. I show you the image of node graph to better understading the problem. link text.

Saracerno gravatar image Saracerno  ( 2015-07-10 04:13:35 -0500 )edit

Can you please share the launch file you created? I guess there is a problem with the frames, but cannot figure out which one.

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-07-10 04:36:11 -0500 )edit

link text Here is it !

Saracerno gravatar image Saracerno  ( 2015-07-10 04:54:07 -0500 )edit

It's possible that is missing somewhere a tf ??

Saracerno gravatar image Saracerno  ( 2015-07-10 04:57:50 -0500 )edit

That is what I want to test. I was never sure how that works hehe.

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-07-10 05:34:28 -0500 )edit

Some news ???

Saracerno gravatar image Saracerno  ( 2015-07-10 09:36:25 -0500 )edit

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Asked: 2015-07-09 13:46:27 -0500

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Last updated: Jul 09 '15