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How to Save MoveIt Octomap?

asked 2015-10-16 09:45:04 -0600

boon gravatar image

I am using MoveIt perception feature to create an octomap of the environment. I don't find a way to save the octomap.

How to save the octomap generated in MoveIt? and How to use the saved octomap in the planning scene again? ( to accomplish robot path planning based on the octomap, without recreating the octomap)

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Hey, did you manage to solve this problem? Because I have the same issue.

HenrySleek gravatar image HenrySleek  ( 2017-03-06 07:14:56 -0600 )edit

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answered 2015-10-24 20:33:25 -0600

130s gravatar image

updated 2015-10-24 20:36:48 -0600

This may be what you want to know; in a nutshell use OctoMap designated formats .ot or .bt.

If you want to store the PointCloud data as its file format .pcd, there's an old hack that I'm not sure if this still works.

If you don't need the 3D voxels and only need 2D map projected from OctoMap, see this thread.

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Asked: 2015-10-16 09:45:04 -0600

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Last updated: Oct 24 '15