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:
- I run roscore
- I launch roslaunch openni_launch openni.launch
- 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>
I run rosrun rviz rviz
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)
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.
I add PointCloud2 topic
I still can't visualize any map. Please please help!
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 I have given the details of steps followed. Can you help me solve the issue?