how to visualize 3d Map in RViz using Octomap ?
hello I am learning octomap to create 3d maps . I cloned this link into my system and used these steps:
- rosbag play<my point="" cloud="" file="">
- cloned link
Edited launch file to change
remap <cloud_in> to <>
<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" /> <!-- maximum range to integrate (speedup!) --> <param name="sensor_model/max_range" value="5.0" /> <!-- data source to integrate (PointCloud2) --> <remap from="cloud_in" to="/sensor_msgs/PointCloud2" /> </node>
</launch>
catkin_make
- roslaunch octomap_server octomap_mapping.launch It ran successfully but no output.
Now, i want to see my map created using point cloud data into Rviz. How can i do that ?
SOlutions tried:
Installed rviz-plugin
rostopic echo /sensor_msgs/PoinCloud2
WARNING: topic [/sensor_msgs/PoinCloud2] does not appear to be published yet
after launching file I checked topics list
rostopic list available
/free_cells_vis_array
/occupied_cells_vis_array
/octomap_binary
/octomap_full
/octomap_point_cloud_centers
/octomap_server/parameter_descriptions
/octomap_server/parameter_updates
/projected_map
/rosout
/rosout_agg
/sensor_msgs/PointCloud2
/tf
/tf_static
in my launch file I remapped cloud_in to /octomap_point_cloud_centers
then also it was not working
then I tried /sensor_msgs/PointCloud2