Unable to view 3D map on rviz [closed]

asked 2016-11-16 00:21:14 -0500

cuda gravatar image

updated 2016-11-16 03:57:34 -0500

gvdhoorn gravatar image

I am trying to build ROS and octomap on ubuntu 14.04. 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">
        <param name="resolution" value="0.05" />

        <!-- 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">
        <param name="resolution" value="0.05" />

        <!-- 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!

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Closed for the following reason duplicate question by cuda
close date 2016-11-22 09:34:43.866609

Comments

It's hard to determine what's going on with the information you provided... Are you sure anything is published to cloud_in topic? And the topic rviz should subscribe is occupied_cells_vis according to this page. Is there any message when you echo this topic?

huanxiner gravatar imagehuanxiner ( 2016-11-16 17:22:36 -0500 )edit