How do I remap topics in octomap_server nodelet?
I have a Realsense R200 which I want to connect to an Octomap server.
The R200 components run in their own nodelet manager as a nodelets.
I can connect the pointcloud to the cloud_in topic of a regular octomap_server node.
I launch it using octomap_mapping.launch with the server placed in the same namespace as the R200.
The mapping line is <remap from="cloud_in" to="depth/points" /> This works well.
I want to run the octomap server as a nodelet in the same manager to avoid copying and transmitting the point cloud.
When I edit the sample launch file octomap_mapping_nodelet.launch nothing I can do to the remap line will allow me to connect to the point cloud.
Running roswtf always claims that the cloud_in topic of the nodelet manager is unconnected.
Does anyone have an example of how they have successfully connected an octomap_server nodelet to a point cloud generating nodelet in the same nodelet manager?
For information, the final nodes are:
/octosense/octosense_nodelet_manager
/octosense/octomap_server_nodelet
/octosense/depth_points
The topics:
/octosense/cloud_in
/octosense/depth/points
I don't think it is the problem with octomap server, but in my own nodelet I had an old pre-nodelet
NodeHandlethat couldn't be remapped, this was corrected by switching everything togetNodeHandle()(which points to the proper nodelet handle).