Ask Your Question
0

How to generate 3D maps on the fly with kinect camera using octomap or rviz?

asked 2016-11-07 00:49:21 -0500

cuda gravatar image

I installed octomap using the source code and run the samples, which worked fine. But since I wanted on the fly 3D generation using kinect I installed ROS, open NI and rviz. I could capture point cloud data on rviz, converted it to .bt using octomap_tutor, which I further gave as input to octovis to generate 3D maps. But this is done manually and I want continuous 3D mapping i.e. on the fly 3D map generation. I found something on the forum that suggested using rviz pluggins for octomap, which I installed but I guess I'm missing the right way configure it. I also tried rviz by installing octomap_mapping and octomap_server but was unsuccessful. So please can anyone help me with the best method for on the fly 3D mapping using kinect camera?

edit retag flag offensive close merge delete

Comments

Octomap is just a way to represent 3D data, it doesn't contain anything that aligns point clouds. There are packages that do do that, but more information would be helpful such as what kind of robot you're using and what kind of environment you're mapping (e.g. indoors or outdoors).

Airuno2L gravatar image Airuno2L  ( 2016-11-07 05:55:57 -0500 )edit

@Airuno2L I have given the details of steps followed. Can you help me solve the issue?

cuda gravatar image cuda  ( 2016-11-22 09:39:31 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2016-11-16 00:24:20 -0500

cuda gravatar image

Thanks for replying Airuno2L.

I am trying to build ROS and octomap on ubuntu 14.04 using kinect camera. I am not using any robot as of now, instead manually trying to move the camera . These are the steps I follow:

  1. I run roscore
  2. I launch roslaunch openni_launch openni.launch
  3. I launch roslaunch octomap_server octomap_mapping.launch

I have made a few changes to these files after referring the previous issues faced by people and I dont know if its correct.

This is my octomap_mapping.launch file

<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">

    <!-- fixed map frame (set to 'map' if SLAM or localization running!)
    <param name="frame_id" type="string" value="odom_combined" /> -->
    <param name="frame_id" type="string" value="map" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="5.0" />

    <!-- data source to integrate (PointCloud2)
    <remap from="cloud_in" to="/narrow_stereo/points_filtered2" /> -->
    <remap from="cloud_in" to="/narrow_stereo/points_filtered2" />

</node>

</launch>

This is my octomap_mapping_nodelet.launch file

<launch> <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>

<node pkg="nodelet" type="nodelet" name="octomap_server_nodelet" args="load octomap_server/OctomapServerNodelet standalone_nodelet">

    <!-- fixed map frame (set to 'map' if SLAM or localization running!)
    <param name="frame_id" type="string" value="odom_combined" /> -->
    <param name="frame_id" type="string" value="map" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="5.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="octomap_server_nodelet/cloud_in" to="cloud_in" />

  <!-- output collision map -->
  <remap from="octomap_server_nodelet/collision_map_out" to="collision_map_out"/>

</node>

</launch>

  1. I run rosrun rviz rviz

  2. I add MarkerArray topic and change the topic to occupied_cells_vis_array(I also tried changing it to occupied_cells_vis but didn't work)

  3. I get a fixed frame error: no tf data found. So, I run "rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map my_frame 100" and the error is resolved but still I don't see any maps.

  4. I add PointCloud2 topic

I still can't visualize any map. Please please help!

edit flag offensive delete link more

Comments

This answer looks like it is a copy of Unable to view 3D map on rviz. Could you please decide which one you want to keep, and delete the other?

gvdhoorn gravatar image gvdhoorn  ( 2016-11-16 04:00:29 -0500 )edit

Thank you gvdhoorn. I closed the topic Unable to view 3D map on rviz. Could you help me with the solution? I'm still looking for any kind of help.

cuda gravatar image cuda  ( 2016-11-22 09:38:08 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2016-11-07 00:49:21 -0500

Seen: 801 times

Last updated: Nov 16 '16