ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question
0

unable to visulize PointCloud using octomap_mapping

asked 2019-12-17 02:00:00 -0600

zhefan gravatar image

updated 2019-12-17 07:26:34 -0600

I am using Turtlebot3 Burger in gazebo simulation. Since it does not have pointcloud2 data, I use laser_geometry package to convert the scan data into pointcloud2. I want to use the octomap_mapping in octomap_server to visualize the pointcloud data. Based on some instructions, I modified the octomap_mapping.launch: <remap from="cloud_in" to="pc"/> where "pc" is the pointcloud2 converted by laser_geometry.

But when I open rviz and use MarkerArray to visualize the occupied cell, it does show anything. I tried to look at the message in the /occupied_cells_vis_array, and It says no message warning.

Could anyone help me figure out what is going wrong? I am really new to ROS, thanks for patience.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2020-01-15 20:49:02 -0600

Namal Senarathne gravatar image

My guess is that you have a timestamp issue in your publishing of pointcloud2 message from the laser data. octomap_server integrates pointclouds to the OctoMap only if there's a valid transformation between the frame of the point cloud and the fixed frame specified for octmap_server. So I would double check the timestamps of the generated pointclouds to see if they match with the current ROS time.

edit flag offensive delete link more

Question Tools

1 follower

Stats

Asked: 2019-12-17 02:00:00 -0600

Seen: 165 times

Last updated: Jan 15 '20