How to provide tf data to octomap?

asked 2016-04-07 06:56:28 -0500

Che. gravatar image

updated 2016-04-08 02:15:58 -0500


how is it possible, with two simple spammer nodes (pcl2 and tf) to create a map?

I want to provide with pcl2-spammer my pointcloud which exists only from one range point (i.e. 5, 0, 0).

Then I want to provide tf data, which simulates i.e. a sinus movement of my range-measurement-tool (i.e. 0, lps_tf_broadcaster, 0).

I already wrote both nodes and start octomap, get a proper communication between pcl2 spammer and octomap, visualising all correctly in rviz, but I dont get my coordinate system to move.

How exactly do I need to edit my octomap_server.launch file?

Any answer is appreciaded!

Thanks, Che.

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