Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

how to save octomap to a 2D occupancyGrid map?

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

jxl

252 ●30 ●35 ●44

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 | mapfile.bt file.

edit retag flag offensive close merge delete

Comments

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 ( 2019-08-22 17:33:34 -0500 )edit

add a comment

1 Answer

Sort by » oldest newest most voted

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

PapaG
161 ●8 ●21 ●18

Hi,

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

add a comment

Question Tools

2 followers

Stats

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

Seen: 1,312 times

Last updated: Aug 22 '19

how to save octomap to a 2D occupancyGrid map? edit

Comments

1 Answer

Question Tools

Stats

Related questions

how to save octomap to a 2D occupancyGrid map?