rgbdslam v2 can not save octomap [closed]

asked 2018-03-02 03:28:14 -0600

Summer gravatar image

updated 2018-03-07 20:19:43 -0600

I use rgbdslamv2 to get a map which can be used to path planning and can be loaded next time. But when I want to save octomap by GUI,it often tells me it is empty, and if I save a pcd file, it will be compressed to a flat, so I can not load it at next time, and it always need too much storage. I try some methods to solve the octomap question, but I failed, I still can not do that. Can anybody who solved this question tell me what should I do?

And if I do not need pcd file, can I just modify the file where works with pcl point?

I do this work one month ago,so I not really remerber what I had done. I try it again,there are methods I tried.

First,I followed this web https://answers.ros.org/question/2536.. . I add 'return true' in bool GraphManager::updateCloudOrigin(Node* node). This function needs to return a bool but return true is missed in the end of the function. I also set store_pointclouds to true.

But I didn't solve this problem as they said. I try to use ros_graph to see whether the octomap node is running, however,in the next picture no octomap node! image description image description

Then I tried https://answers.ros.org/question/7743.. . I wrote a launch file including octomap and kinect2 services. image description There get octomap service,it links to batch_cloud, when I use rviz to listen batch_cloud message,nothing in it. Then I see that " you need make the same process but you only need public the topic for send the poindcloud to octomap, you need cal the service. rosservice call /rgbdslam/ros_ui send_all and you see in rviz and octomap_server" I use $ rosservice call /rgbdslam/ros_ui send_all I can see pointcloud published by batch_cloud in rviz,but when I use $rosservice call /rgbdslam/ros_ui_s save_octomap filename.ot I get an empty octomap again!

Here is my topic: image description

And then I noticed the experimental octomap,I wanna download it via $svn co http://alufr-ros-pkg.googlecode.com/s.. . but this website is "404 error",and can not find path via this commad...

Thanks for your attention!

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Closed for the following reason duplicate question by Summer
close date 2018-03-18 03:38:39.740125

Comments

I try some methods to solve the octomap question, but I failed

Specifically, what methods and what were the results?

jayess gravatar image jayess  ( 2018-03-04 23:47:21 -0600 )edit

Thanks for your attention! I do this work one month ago,so I not really remerber what I had done. I try it again,there are methods I tried. please look at my commad.

Summer gravatar image Summer  ( 2018-03-07 04:46:51 -0600 )edit