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3D mapping with octomap

asked 2019-05-06 03:28:54 -0500

S.Yildiz gravatar image

updated 2019-05-06 03:38:21 -0500

I want to use octomap and while I tried this out I had some problems. When I started octomap_server and rviz I realized that the sensor is looking only in one way, even if I rotate my robot (my fixed frame is odom). I did it like in this tutorial

And then I read that I need to use e.g. cartographer to slam. Is this correct? So the steps are:

  1. I have to set up cartographer 2D and octomap
  2. cartographer uses laser scan, imu and octomap rgbd
  3. cartographer publishes the map
  4. In octomap_mapping.launch change the value of frame_id to map
  5. remap to pointcloud

Should it work with these steps? **And one more question: Is it possible to use multiple pointclouds in octomap? I have read this: but I am using two same cameras and they have the same node and I don't know how to publish these two to one topic. And I didn't get how the topic_tools relay works

I hope someone can help me

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answered 2019-05-06 14:07:55 -0500

Cartographer likely only uses laser scan, imu and odom, integrating RGB-D data works in principle (i.e. it's a compatible data type), but the sensor characteristics are very different from the LIDARs cartographer is normally used with.

Otherwise your planned steps look plausible. For relaying, you can do a relay like this in a launch file (obviously change the /cameraX/point_cloud topics and /octomap_input_cloud topic according to your setup):

<node pkg="topic_tools" type="relay" name="relay_cam1_topic" args="/camera1/point_cloud /octomap_input_cloud" />
<node pkg="topic_tools" type="relay" name="relay_cam2_topic" args="/camera2/point_cloud /octomap_input_cloud" />
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And a remap is not needed?

S.Yildiz gravatar image S.Yildiz  ( 2019-05-13 02:58:03 -0500 )edit

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Asked: 2019-05-06 03:28:54 -0500

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Last updated: May 06 '19