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how to save octomap to a 2D occupancyGrid map?

asked 2019-08-22 07:05:41 -0600

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.

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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 -0600 )edit

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answered 2019-08-22 18:26:02 -0600

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.

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Asked: 2019-08-22 07:05:41 -0600

Seen: 366 times

Last updated: Aug 22 '19