Ask Your Question

What is the input data for Octomap algorthim?

asked 2019-06-19 17:38:01 -0500

MjdKassem gravatar image

updated 2019-06-20 05:40:08 -0500

gvdhoorn gravatar image

HI every body…

i am new at ROS world i am trying to implement octomap, but first i have to learn more about it.

Does any one tell me what is the input data should i feed to the Octomap ? how much SLAM related to Octomap? if i have 3d ultrasonic spare point cloud, can i mapping them with Octomap? can i use Octomap for localization?

what is the minimum hardware requirement needed for good Octomap implementation?

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

answered 2019-06-20 05:17:21 -0500

TharushiDeSilva gravatar image

I might be able to answer some of the questions you have. Octomap accepts sensor_msgs/PointCloud2 message type as its input. (It might accept other point cloud types too). The Octomap research paper contains most of the things you need to know about its background.

I have tested Octomap in a raspberry-pi 3B, which has 1GB RAM, and a 4 x ARM Cortex processor. It can process an octomap in an acceptable speed, with a 4 cm resolution. But I strongly recommend a computer with higher hardware specifications if you need to build a coloured octomap, or if you need a higher resolution.

For localization, you can use ROS navigation stack, which can be aided by your Octomap.

edit flag offensive delete link more


What do you mean by sensor_msgs/PointCloud2.? Is there any another type of that point? If I have real sensor like Lidar ...,does octomap deal with physical sensors directly? You can link me some tutorial because I am just a ROS, maybe it is early to ask like that quesion, but I have to prepare proposal about my future work So I have to imagine the wider idea about my research.. Thank you for your response

MjdKassem gravatar image MjdKassem  ( 2019-06-20 07:28:31 -0500 )edit

@Tharush - what camera did you use? We're using a similar setup for some of our investigation ( also the Ultrasonic > PCL map) work.

Bwmetis gravatar image Bwmetis  ( 2020-05-20 07:07:25 -0500 )edit

I used a Microsoft Kinect 360. It's a RGB-D camera

TharushiDeSilva gravatar image TharushiDeSilva  ( 2020-05-29 11:19:42 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2019-06-19 17:38:01 -0500

Seen: 411 times

Last updated: May 20 '20