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?
The launch file you posted does not start any nodes. Is that really the launch file you are using?
Sorry, actually it was the snippet from within the node field. Now I have edited the post to show the whole file. Thanks!!
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?
I do something similar in my sensor processing nodelet here:
https://github.com/appinho/SARosPerce...
Have a look and let me know if this works for you and if you need help !