Multiple Projected Maps from Octomap-Server with different heights

asked 2018-07-11 15:17:47 -0500

PSimacek gravatar image

I am using the Octomap-Server-Package and aim to do the follwing: Given an Octomap of an indoor environment i want to extract multiple projected maps from the Octomap. The projected maps should only consider occupied cells at specific height levels. For example all occupied cells between z-Values of 1.0 and 1.5, 1.5 and 2.0, and so on.

My idea was to use the parameter "occupancy_min/may_z" to define these layers and subscribe to the topic "projected_map". This works to a certain degree. The problem is, if an occupied cell only cuts the layer, but its midpoint is above it, the projected map counts the area as free.

Is there any work-around for this problem? Ideally i want to use the projected_map topic. If that's not possible....could anyone give me a hint on how to implement this kind of layered projection? Maybe by interating through the octree?

The different projected maps shall be used for path planning of an UAV

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