Robotics StackExchange | Archived questions

Mapping with Octomap and KITTI

I am trying to generate a map from a cloudpoint using Octomap_mapping and KITTI datasets.

The octomap_mapping.launch looks as follows:

  <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" />

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

          <!-- data source to integrate (PointCloud) -->
          <remap from="cloud_in" to="/kitti/velo/pointcloud" />
       </node>
</launch>

After launching the Octomap server with roslaunch octomap_mapping octomap_mapping.launch and starting publishing data from Kitti, nothing is being published by Octomap to /octomap_full. However, running an echo on the topic /kitti/velo/pointcloud I am able to see data which means that Octomap should be able to receive that data.

Maybe I am missing something, could you give me any ideas?

Asked by Nicu on 2017-11-20 12:23:00 UTC

Comments

The launch file you posted does not start any nodes. Is that really the launch file you are using?

Asked by Thomas D on 2017-11-20 13:00:19 UTC

Sorry, actually it was the snippet from within the node field. Now I have edited the post to show the whole file. Thanks!!

Asked by Nicu on 2017-11-20 13:37:28 UTC

I guess you already solved it by now (can you post back what was the issue to the benefit of others?). In any case, was it just octomap_full that didn't publish anything? What about octomap_binary?

Asked by kotoko on 2018-08-13 05:36:25 UTC

I do something similar in my sensor processing nodelet here:

https://github.com/appinho/SARosPerceptionKitti

Have a look and let me know if this works for you and if you need help !

Asked by appinho on 2018-10-16 08:18:12 UTC

Answers