Mapping with Octomap and KITTI

asked 2017-11-20 11:23:00 -0600

Nicu gravatar image

updated 2017-11-20 12:36:33 -0600

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

The octomap_mapping.launch looks as follows:

    <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" />

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?

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

Thomas D gravatar image Thomas D  ( 2017-11-20 12:00:19 -0600 )edit

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

Nicu gravatar image Nicu  ( 2017-11-20 12:37:28 -0600 )edit

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?

kotoko gravatar image kotoko  ( 2018-08-13 05:36:25 -0600 )edit

I do something similar in my sensor processing nodelet here:

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

appinho gravatar image appinho  ( 2018-10-16 08:18:12 -0600 )edit