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Octree to Quadtree from Octomap

asked 2015-09-09 21:49:33 -0500

ktiwari9 gravatar image

Hi there, I am using Octomapping in ROS to generate an occupancy grid but I want to use it for 2d Navigation so is there a possibility to convert the optimized Octree to a Quadtree ?

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answered 2015-09-10 03:03:03 -0500

mgruhler gravatar image

updated 2015-09-10 03:04:31 -0500

Well, it is not really converting it to a Quadtree. But as you are using ROS for 2D navigation, you should be able to use the ocotmap_server_multilayer (LINK) which publishes multilayered nav_msgs::OccupancyGrids. Check out the 3d_navigation for a demo video.

Having a quick look at the source code, I'd say that you would have to adjust it a bit.

Maybe, using the downprojected map of the octomap_server is already enough for you, but I had problems with this (too much clutter)...

If there are better ways, I'd be happy to know as well ;-)

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hi, i came across the same problem, but after i modify the octomap_server_multilayer.cpp(/opt/ros/groovy/stacks/octomap_mapping), how do i rebuild the file to make the system know that the file has been changed? I tried rosmake, but i didn't work? Any suggestion? Thank you

jwlifly gravatar image jwlifly  ( 2016-05-03 04:01:39 -0500 )edit

Check out the source code into a catkin workspace. You should never manually change any files int /opt/....

FYI, the current ROS LTS release is indigo (two releases ahead of groovy), and the next release, kinetic (four ahead) just reached beta. You should probably change to a newer release..

mgruhler gravatar image mgruhler  ( 2016-05-03 05:37:47 -0500 )edit

I have worked it out. Thanks.

jwlifly gravatar image jwlifly  ( 2016-05-03 08:40:30 -0500 )edit

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Asked: 2015-09-09 21:49:33 -0500

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Last updated: Sep 10 '15