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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 ;-)
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
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..
Asked: 2015-09-09 21:49:33 -0500
Seen: 786 times
Last updated: Sep 10 '15
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