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Can Turtlebot2 directly use Octomap to navigate?

asked 2016-10-25 03:24:48 -0500

Nick Hoo gravatar image

I have two questions. First, in octomap_server,the published topics octomap_binary and octomap_full are the topics for navigation which likes like grid_map and proj_map.Yes or No. And why. Secondly, can 2-DOF robot(Turtlebot2) directly use the map above. I means it doesn't need downprojected 2D occupancy map from the 3D map.

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answered 2016-10-25 09:50:12 -0500

matlabbe gravatar image


move_base uses a 2D occupancy grid map to plan trajectories. The octomap topics are 3D occupancy maps, which would be used by some other 3D planning approach (e.g., move_it). They are not the same as /grid_map or /proj_map from rtabmap_ros. You should use /map output topic of octomap_server with move_base. So for your second question, yes it needs the down projected 2D map.


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Thank you very much.

Nick Hoo gravatar image Nick Hoo  ( 2016-10-25 21:39:29 -0500 )edit

Is this the standard way for robot navigation with 3d environment in ros till now? Or is their any other better method?

dinesh gravatar image dinesh  ( 2020-12-21 00:03:22 -0500 )edit

As long as you can simplify navigation in 2D (even if the terrain is 3D), move_base seems the most ROS way to do that. For 3D trajectories (having to move in Z, e.g., quadcopter), then using OctoMap with OMPL/move_it can be another approach, though not sure if there is one most popular approach for the 3D case.

matlabbe gravatar image matlabbe  ( 2020-12-24 14:37:26 -0500 )edit

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Asked: 2016-10-25 03:24:48 -0500

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Last updated: Oct 25 '16