Octomap: No Map Recieved [closed]
Hello,
I tried to follow various solutions and examples to launch my octomap in RVIZ. However, for some reason I still get no map recieved. I am aware that by just remapping the "cloud_in"
to the rostopic that publishes pointcloud2 should build the map. I am using ZED camera for my system and I tried three setups and in all of them I am not able to generate Octomap.
I have tried:
<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="map" />
<!-- maximum range to integrate (speedup!) -->
<param name="sensor_model/max_range" value="5.0" />
<!-- data source to integrate (PointCloud2) -->
<remap from="cloud_in" to="/zed/depth/image_rect_color" />
</node>
I have also tried:
<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="map" />
<!-- maximum range to integrate (speedup!) -->
<param name="sensor_model/max_range" value="5.0" />
<!-- data source to integrate (PointCloud2) -->
<remap from="cloud_in" to="/zed/point_cloud/cloud" />
</node>
I am not sure where my error is. I am adding the whole launch file of the system to help locate the error.
Currently failed launch file (testing using /scan
as the topic for cloud_in
):
<launch>
<!--EKF Launch -->
<include file="$(find robot_localization)/launch/EKF_Odom.launch" />
<!--Zed Camera Launch
<include file="$(find zed_wrapper)/launch/zed.launch" />-->
<arg name="svo_file" default=""/>
<group ns="zed">
<node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node">
<param name="resolution" value="1" />
<param name="quality" value="1" />
<param name="sensing_mode" value="1" />
<param name="frame_rate" value="10" />
<param name="odometry_DB" value="" />
<param name="openni_depth_mode" value="0" />
<param name="rgb_topic" value="rgb/image_rect_color" />
<param name="rgb_cam_info_topic" value="rgb/camera_info" />
<param name="rgb_frame_id" value="/base_frame" />
<param name="left_topic" value="left/image_rect_color" />
<param name="left_cam_info_topic" value="left/camera_info" />
<param name="left_frame_id" value="/base_frame" />
<param name="right_topic" value="right/image_rect_color" />
<param name="right_cam_info_topic" value="right/camera_info" />
<param name="right_frame_id" value="/base_frame" />
<param name="depth_topic" value="depth/image_rect_color" />
<param name="depth_cam_info_topic" value="depth/camera_info" />
<param name="depth_frame_id" value="/base_frame" />
<param name="point_cloud_topic" value="point_cloud/cloud" />
<param name="cloud_frame_id" value="/base_frame" />
<param name="odometry_topic" value="/odom" />
<param name="odometry_frame_id" value="/zed_initial_frame" />
<param name="odometry_transform_frame_id" value="/base_frame" />
</node>
-->
<!-- Depth_image to Laser_Scan -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<param name="scan_height" value="100"/>
<param name="output_frame_id" value="/base_frame"/>
<param name="range_min" value="0.3"/>
<param name="range_max" value="60"/>
<remap from="image" to="/zed/depth/image_rect_color"/>
<remap from="scan" to ="/scan"/>
</node>
</group>
<!-- Laser Scan Match -->
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">
<param name="fixed_frame" value = "world"/>
<param name="base_frame" value="wheelchair_base"/>
<param name="use_alpha_beta" value="false"/>
<param name="use_odom" value="true"/>
<param name="use_imu" value="false"/>
<param name="max_iterations" value="10"/>
<param name="publish_pose" value="true"/>
<param name="publish_tf" value="false"/>
<param name="use_vel" value="false"/>
</node>
<!-- Gmapping -->
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="map_udpate_interval" value="2.0 ...