Octomap showing only the current point cloud

asked 2016-03-01 10:10:50 -0600

krishnaece1505 gravatar image

Hi, I am trying to use the octomap_server libraries to build a map from a velodyne vlp-16 lidar. I give the input pointcloud in the base_link frame and then I launch the octomap_mapping.launch file. But, when I visualize the octomap_point_cloud_centers topic in rviz, I see only the current input point cloud as the output and I am unable to see the map. However, I the new point cloud seems to be added to the previous point cloud for a short time and then the old point cloud disappears. Can anyone tell what mistake I am making? I do not understand the significance of using tf to change the frame to /map. Do, I have to use the map frame?

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I asked a similar question on octomap google group here. It seems like we are in the same boat. Contact me at chukcha2 at yahoo dot com and I can share my experience so far.

chukcha2 gravatar image chukcha2  ( 2016-03-03 09:37:57 -0600 )edit

@chukcha2 private conversations are completely useless for other users of this site. Please share your experiences here as they might be useful for somebody else.

Javier V. Gómez gravatar image Javier V. Gómez  ( 2016-04-05 06:02:03 -0600 )edit

Could your point cloud visualization be affected by the rviz decay time setting?

joq gravatar image joq  ( 2016-04-05 09:19:34 -0600 )edit