ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

how to save octomap to a 2D occupancyGrid map?

asked 2019-08-22 07:05:41 -0500

jxl gravatar image

Hi, is there some tools to save a octomap(octomap_msgs/Octomap) to a 2D occupancyGrid map(nav_msgs/OccupancyGrid), i see the octomap_saver can create a mapfile.ot | file.

edit retag flag offensive close merge delete


octomap_server publish nav_msgs/OccupancyGrid. Link.

Downprojected 2D occupancy map from the 3D map. Be sure to remap this topic if you have another 2D map server running. New / changed in octomap_mapping 0.4.4: The topic is now projected_map by default to avoid collisions with static 2D maps.

Why not record this topic in bagfile by

 rosbag record /topicname
usamamaq gravatar image usamamaq  ( 2019-08-22 17:33:34 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2019-08-22 18:26:02 -0500

PapaG gravatar image


The octomap_server automatically publishes a 2D projection of the octomap as a nav_msgs/OccupancyGrid message. Therefore, you can use map_saver to save the 2D projection map just like any 2D SLAM algorithm.

edit flag offensive delete link more

Question Tools



Asked: 2019-08-22 07:05:41 -0500

Seen: 1,314 times

Last updated: Aug 22 '19