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Octomap with turtlebot

asked 2012-03-03 04:50:40 -0600

karthik gravatar image

updated 2016-10-24 09:03:26 -0600

ngrennan gravatar image

Hi, Has anyone used Octomap with turtlebot. I see there are no tutorials on the octomap. So i just wanted to know if someone successfully used it for their work and could give me some heads up on the same.

I would like to create a 3D occupancy grid map of the surroundings using the kinect on the turtlebot and navigate on the same.

Any suggestions and pointers are much appreciated!!!

Thanks, Karthik

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answered 2012-03-05 04:49:24 -0600

AHornung gravatar image

Check out octomap_server and its documentation. That's what you need to build up 3D occupancy maps from any point cloud source. There is an example launch file in the package which you only need to modify. It should be straightforward if you have good odometry or a localization in a 2D map running along.

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how is the odometry done in octomap? is it visual odometry ? how can we link another (good) odometry with octomap ?

Ketan Katkar gravatar image Ketan Katkar  ( 2014-06-03 14:24:10 -0600 )edit

answered 2012-03-04 07:49:13 -0600

Mac gravatar image

This should work just fine; the Kinect generates point clouds, just as you'd expect.

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Mac, thanks for the response. Could you guide me through the same. A tutorial page would be too much to ask, but it would be of great help.

karthik gravatar image karthik  ( 2012-03-04 08:14:58 -0600 )edit

Sure can't; dig around on octomap, I suppose.

Mac gravatar image Mac  ( 2012-03-04 08:16:31 -0600 )edit

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Asked: 2012-03-03 04:50:40 -0600

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Last updated: Mar 05 '12