How do I remap topics in octomap_server nodelet?

asked 2016-10-26 01:51:02 -0600

jrw gravatar image

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

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Comments

I don't think it is the problem with octomap server, but in my own nodelet I had an old pre-nodelet NodeHandle that couldn't be remapped, this was corrected by switching everything to getNodeHandle() (which points to the proper nodelet handle).

lucasw gravatar imagelucasw ( 2017-03-08 13:16:46 -0600 )edit