Can I publish an octomap represented by "ot." file as a ROS node?
Hello,
I want to publish an octomap file via octomap_server,
however,when I used this command rosrun octomap_server octomap_server_node myfile.ot
.
It told me
[ INFO] [1521191624.007169183]: Publishing latched (single publish will take longer, all topics are prepared)
But if I used
.btfile, it worked ok!
rosrun octomap_server octomap_server_node myfile.bt`.
[ INFO] [1521191731.172200294]: Publishing latched (single publish will take longer, all topics are prepared)
Some question are as below:
1.I want a color octomap,if I use binary file,it means I cannot have the color information, Is that right?
2.Can I publish an ".ot" file as a ros node?
3.If I can not publish an ".ot" file, is there any way to transform an octomap represented by "ot." file to ".bt" file(I just have the ".ot" file ,no pointcloud file)?
I found it by myself, the third question. In the octomap package, in the /bin there has covert_tree which you can convert .bt file to .ot file or .ot to .bt ,it's very convenient.
But I still don't know whether or not can I publish an ".ot" file as a ros node?