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Create an Octomap with multiples vehicles

asked 2019-09-12 03:59:37 -0500

oiseau gravatar image

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 ?

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answered 2019-09-12 09:22:16 -0500

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?

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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 (<group ns="vehi0">).

oiseau gravatar image oiseau  ( 2019-09-18 04:06:23 -0500 )edit

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.

Namal Senarathne gravatar image Namal Senarathne  ( 2020-01-10 00:18:05 -0500 )edit

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.

Namal Senarathne gravatar image Namal Senarathne  ( 2020-01-10 00:20:13 -0500 )edit

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Asked: 2019-09-12 03:59:37 -0500

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Last updated: Sep 12 '19