Create an Octomap with multiples vehicles
Hi everyone, I need to create an Octomap with multiple vehicles, I was looking on the package octomap_server but I don't think that this is the right one for this application. Futhermore, when I use this package with a vehicle inside of a group, it doesn't work anymore even if the topic path is still right.
So, I wanted to know if there is a way to do an octomap with multiple vehicles with ROS or do I need to make my own package for that application ?
Asked by oiseau on 2019-09-12 03:59:37 UTC
Answers
I was looking on the package octomap_server but I don't think that this is the right one for this application
I don't see any problem with the use of octomap_server with multiple vehicles. Any reasons for your thoughts?
Futhermore, when I use this package with a vehicle inside of a group, it doesn't work anymore even if the topic path is still right.
I do not understand. What doesn't work? And what do you mean by inside of a group?
Asked by Felix Endres on 2019-09-12 09:22:16 UTC
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I don't see how I can make octomap_server suscribes to multiple pointclouds and transforms. Well, when I add a group inside my launch file (
Asked by oiseau on 2019-09-18 04:06:23 UTC
octomap_server subscribes to only a single topic. So even if you have multiple vehicles outputting point clouds, they have to be fed in to the same input topic 'cloud_in'. So you have to provide this remapping.
When you put all the topics of one vehicle into a dedicated namespace you have to manually ensure the correct remapping from say /vehi0/cloud to cloud_in.
Asked by Namal Senarathne on 2020-01-10 01:18:05 UTC
May be an alternative approach is to register or assemble the pointclouds from different vehicles into a single pointcloud and publishing this pointcloud to the cloud_in topic. This I believe should make things much efficient. Otherwise there could be too many raycasting operations in octomap_server that can make it quite slow.
Asked by Namal Senarathne on 2020-01-10 01:20:13 UTC
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